Control method and device of crossheading transfer equipment and electronic equipment

Abstract

The invention discloses a control method and device of crossheading transfer equipment and electronic equipment, relates to the technical field of coal mine underground conveying equipment, and mainly aims to avoid manpower consumption, improve the adjustment efficiency of equipment in a crossheading and reduce the safety risk of operators. According to the main technical scheme, according to the control method of the crossheading transfer equipment, the crossheading transfer equipment comprises a belt conveyor self-moving tail, the belt conveyor self-moving tail comprises a belt frame and a body which are connected, and the control method comprises the steps that first three-dimensional point cloud data of the contour of the body are obtained; according to the first three-dimensional point cloud data, determining a running posture of the body relative to a crossheading coal wall; under the condition that the overlap ratio of the running posture and a preset posture is smaller than a first preset value, the body is controlled to move to the preset posture; wherein in the preset posture, the angle between the side wall of the body and the crossheading coal wall is smaller than or equal to a second preset value.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine transportation equipment, and in particular to a control method, device and electronic equipment for chute transfer equipment. Background Art

[0002] The chute transfer equipment is an important part of the transportation system in the chute and is the key equipment for direct transfer between the scraper and the belt. In order to achieve smooth material transfer, while ensuring the correct connection between the transfer equipment and the front and rear equipment, it is also necessary to ensure that the posture of the transfer equipment is in the correct state. For example, it is necessary to ensure that the tail of the belt conveyor is not offset relative to the coal wall.

[0003] At present, chute transfer equipment usually relies on operators to manually control the adjustment process of the equipment's posture. Each operation requires a lot of manpower, delays the adjustment time of the equipment in the chute, and also brings safety risks to the operator. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a control method, device and electronic equipment for chute transfer equipment, the main purpose of which is to avoid wasting manpower, improve the adjustment efficiency of equipment in the chute, and reduce the safety risks of operators.

[0005] In order to achieve the above object, the present invention mainly provides the following technical solutions:

[0006] In a first aspect, an embodiment of the present invention provides a control method for a chute transfer device, wherein the chute transfer device includes a self-moving tail of a belt conveyor, wherein the self-moving tail of the belt conveyor includes a connected belt frame and a body, and the control method includes:

[0007] Acquire first three-dimensional point cloud data of the outline of the body;

[0008] Determining the running posture of the main body relative to the coal wall of the chute according to the first three-dimensional point cloud data;

[0009] When the overlap between the running posture and the preset posture is less than a first preset value, the body is controlled to move to the preset posture; wherein, in the preset posture, the angle between the side wall of the body and the coal wall of the chute is less than or equal to a second preset value.

[0010] Further, the main body includes a head portion and a tail portion arranged along its moving direction; and determining the running posture of the main body relative to the coal wall of the chute according to the first three-dimensional point cloud data includes:

[0011] Determine, according to the first three-dimensional point cloud data, a first distance and a second distance of the head portion and the tail portion relative to the coal wall of the chute;

[0012] When the difference between the first distance and the second distance is greater than a third preset value, determining that the degree of overlap between the running posture and the preset posture is less than the first preset value;

[0013] When the difference between the first distance and the second distance is less than or equal to the third preset value, it is determined that the degree of overlap between the running posture and the preset posture is greater than or equal to the first preset value.

[0014] Further, the first three-dimensional point cloud data includes coal wall point cloud data of the chute and body side wall point cloud data; and determining the first distance and the second distance of the head and the tail relative to the coal wall of the chute respectively according to the first three-dimensional point cloud data includes:

[0015] Fitting the coal wall point cloud data of the chute into coal wall line segments of the chute;

[0016] Fitting the body side wall point cloud data into body side wall line segments;

[0017] The first distance and the second distance are determined according to the chute coal wall line segment and the main body side wall line segment.

[0018] Furthermore, the belt rack is provided with a belt, and the control method further comprises:

[0019] Acquire second three-dimensional point cloud data of the profile of the belt;

[0020] determining a first moving direction of the belt according to the second three-dimensional point cloud data;

[0021] In the preset posture, obtaining third three-dimensional point cloud data of the outline of the body;

[0022] Determining a second moving direction of the body according to the third three-dimensional point cloud data;

[0023] When the first moving direction is inconsistent with the second moving direction, the moving direction of the body is controlled to be consistent with the first moving direction.

[0024] Furthermore, the belt rack is provided with a belt, and the control method further comprises:

[0025] Acquire fourth three-dimensional point cloud data of the outline of the belt rack, wherein the fourth three-dimensional point cloud data includes belt rack edge point cloud data and belt point cloud data;

[0026] Determine the relative position relationship between the belt rack and the belt according to the belt rack edge point cloud data and the belt point cloud data;

[0027] When the relative position relationship is non-parallel, the body is controlled to move so that the belt rack and the belt are parallel to each other.

[0028] Further, the belt rack includes a first point and a second point arranged at intervals along its extension direction; and determining the relative position relationship between the belt rack and the belt according to the edge point cloud data of the belt rack and the belt point cloud data includes:

[0029] Determine a third distance between the first point and the belt, and a fourth distance between the second point and the belt, according to the belt rack edge point cloud data and the belt point cloud data;

[0030] When the difference between the third distance and the fourth distance is greater than a third preset value, it is determined that the relative position relationship is non-parallel.

[0031] Furthermore, the belt rack is provided with a belt, and the control method further comprises:

[0032] When the belt is not carrying any material, obtaining fifth three-dimensional point cloud data of the contour of the belt;

[0033] In the case where the belt carries the material, obtaining sixth three-dimensional point cloud data of the overall contour of the belt and the material;

[0034] The flow rate of the material is determined according to the fifth three-dimensional point cloud data and the sixth three-dimensional point cloud data.

[0035] Furthermore, the running speed of the belt is adjusted according to the flow rate of the material.

[0036] Furthermore, the chute transfer equipment further comprises a three-dimensional camera and a transfer machine, wherein the transfer machine is arranged on the main body, and the three-dimensional camera is arranged on the transfer machine; the first three-dimensional point cloud data of the contour of the main body is obtained, including:

[0037] Acquire an image of the body by using the three-dimensional camera;

[0038] The first three-dimensional point cloud data is determined according to the image.

[0039] In a second aspect, an embodiment of the present invention provides a control device for a chute transfer device, wherein the chute transfer device includes a self-moving tail of a belt conveyor, wherein the self-moving tail of the belt conveyor includes a connected belt frame and a body, and the control device includes:

[0040] An acquisition unit, used for acquiring first three-dimensional point cloud data of the outline of the body;

[0041] A determination unit, used for determining the running posture of the body relative to the coal wall of the chute according to the first three-dimensional point cloud data;

[0042] A control unit is used to control the body to move to the preset posture when the overlap between the running posture and the preset posture is less than a first preset value; wherein, in the preset posture, the angle between the side wall of the body and the coal wall of the chute is less than or equal to a second preset value.

[0043] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0044] A processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the steps of the control method of the chute transfer equipment are implemented.

[0045] In a fourth aspect, an embodiment of the present invention provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the control method of the aforementioned chute transfer equipment are implemented.

[0046] By means of the above technical solution, the present invention has at least the following beneficial effects:

[0047] The control method of the chute transfer equipment provided in the embodiment of the present invention obtains the first three-dimensional point cloud data of the contour of the main body of the self-moving tail of the belt conveyor; determines the running posture of the main body of the self-moving tail of the belt conveyor relative to the coal wall of the chute according to the first three-dimensional point cloud data; when the overlap between the running posture and the preset posture is less than the first preset value, controls the main body of the self-moving tail of the belt conveyor to move to the preset posture; wherein, in the preset posture, the angle between the side wall of the main body of the self-moving tail of the belt conveyor and the coal wall of the chute is less than the second preset value, thereby realizing automatic closed-loop adjustment of the running posture of the self-moving tail of the belt conveyor, and no longer needs to rely on the operator to manually control the posture, thus avoiding manpower waste, improving the adjustment efficiency of the equipment in the chute, and reducing the safety risk of the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A flow chart of a control method for a chute transfer device provided by an embodiment of the present invention;

[0049] Figure 2 A structural block diagram of a control device for a chute transfer device provided by an embodiment of the present invention;

[0050] Figure 3 A structural block diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the present invention more clear, the technical solutions in the embodiments of the present invention will be described in more detail below in conjunction with the accompanying drawings in the preferred embodiments of the present invention.

[0052] like Figure 1 As shown, an embodiment of the present invention provides a control method for a chute transfer device, wherein the chute transfer device includes a self-moving tail of a belt conveyor, and the self-moving tail of the belt conveyor includes a connected belt frame and a body. The control method may include:

[0053] 101. Acquire first three-dimensional point cloud data of the outline of the body;

[0054] 102. Determine the running posture of the main body relative to the coal wall of the chute according to the first three-dimensional point cloud data;

[0055] 103. When the overlap between the running posture and the preset posture is less than a first preset value, control the body to move to the preset posture; wherein, in the preset posture, the angle between the side wall of the body and the coal wall of the chute is less than or equal to a second preset value.

[0056] In an embodiment of the present invention, a first three-dimensional point cloud data of the main body contour of the self-moving tail of the belt conveyor can be obtained by a structured light imaging device, such as a structured light three-dimensional stereo imaging camera. Specifically, the structured light three-dimensional stereo imaging camera can use line laser assisted positioning to obtain the three-dimensional spatial coordinates of the main body, thereby forming the first three-dimensional point cloud data of the main body contour. Based on the first three-dimensional point cloud data, the running posture of the main body relative to the coal wall of the chute can be determined.

[0057] In the embodiment of the present invention, the second preset value can be zero or a value close to zero, that is, in the preset posture, the body of the self-moving tail of the belt conveyor is almost parallel to the coal wall of the chute, and the body can realize the smooth transfer of materials in the preset posture.

[0058] In the embodiment of the present invention, the first preset value may be a degree of overlap at which the running posture of the body and the preset posture coincide or nearly coincide, and under this degree of overlap, the body may be in the preset posture. When the degree of overlap between the running posture of the body determined according to the first three-dimensional point cloud data and the preset posture is less than the first preset value, the body is controlled to move to the preset posture, thereby realizing automatic closed-loop adjustment of the running posture of the belt conveyor self-moving tail.

[0059] The control method of the chute transfer equipment provided in the embodiment of the present invention obtains the first three-dimensional point cloud data of the contour of the main body of the self-moving tail of the belt conveyor; determines the running posture of the main body of the self-moving tail of the belt conveyor relative to the coal wall of the chute according to the first three-dimensional point cloud data; when the overlap between the running posture and the preset posture is less than the first preset value, controls the main body of the self-moving tail of the belt conveyor to move to the preset posture; wherein, in the preset posture, the angle between the side wall of the main body of the self-moving tail of the belt conveyor and the coal wall of the chute is less than the second preset value, thereby realizing automatic closed-loop adjustment of the running posture of the self-moving tail of the belt conveyor, and no longer needs to rely on the operator to manually control the posture, thus avoiding manpower waste, improving the adjustment efficiency of the equipment in the chute, and reducing the safety risk of the operator.

[0060] In the embodiment of the present invention, the body may include a head portion and a tail portion arranged along its moving direction; step 102 may specifically include:

[0061] Determine, according to the first three-dimensional point cloud data, a first distance and a second distance of the machine head and the machine tail relative to the coal wall of the chute;

[0062] When the difference between the first distance and the second distance is greater than the third preset value, it is determined that the degree of overlap between the running posture of the body and the preset posture is less than the first preset value; when the difference between the first distance and the second distance is less than or equal to the third preset value, it is determined that the degree of overlap between the running posture of the body and the preset posture is greater than or equal to the first preset value.

[0063] In the above embodiment, the first distance and the second distance of the head and the tail of the machine relative to the coal wall of the chute can be calculated respectively according to the first three-dimensional point cloud data. It can be understood that if the first distance and the second distance are equal or the difference between the two is within the allowable range, it can be explained that the main body of the belt conveyor self-moving tail is parallel to the coal wall of the chute.

[0064] Among them, the third preset value can be zero or an allowable range of the difference between the first distance and the second distance, that is, when the difference between the first distance and the second distance is less than or equal to the third preset value, the body of the self-moving tail of the belt conveyor can be parallel to the coal wall of the chute, and the body can be in a preset posture at this time. At this time, there is no need to adjust the running posture of the body; when the difference between the first distance and the second distance is greater than the first preset value, the body of the self-moving tail of the belt conveyor cannot be parallel to the coal wall of the chute, and the body is not in the preset posture at this time, and the running posture of the body needs to be adjusted.

[0065] It can be understood that when the body is in a preset posture, the distances between the two sides of the body and the coal wall of the chute may be equal or unequal.

[0066] In an embodiment of the present invention, the first three-dimensional point cloud data may include chute coal wall point cloud data and main body side wall point cloud data; based on the first three-dimensional point cloud data, the first distance and the second distance of the head and the tail of the machine relative to the chute coal wall are respectively determined, which may specifically include: fitting the chute coal wall point cloud data into chute coal wall line segments; fitting the main body side wall point cloud data into main body side wall line segments; determining the first distance and the second distance based on the chute coal wall line segments and the main body side wall line segments.

[0067] The chute coal wall line segment and the body side wall line segment may be part of the chute coal wall surface and part of the body side wall surface that can be photographed by the structured light three-dimensional stereo imaging camera, respectively. After fitting the chute coal wall line segment and the body side wall line segment, the first distance and the second distance may be calculated based on the chute coal wall line segment and the body side wall line segment. Specifically, the chute coal wall line segment and the body side wall line segment may be subtracted to obtain the first distance and the second distance.

[0068] Since the coal wall of the chute is usually uneven, in order to improve the accuracy of the calculation results and the convenience of calculation, the maximum and minimum values ​​in the point cloud data of the chute coal wall can be removed, and then the remaining data can be averaged to fit the chute coal wall line segments; similarly, since the side wall of the main body may be uneven, in order to improve the accuracy of the calculation results and the convenience of calculation, the maximum and minimum values ​​in the point cloud data of the side wall of the main body can be removed, and then the remaining data can be averaged to fit the side wall line segments.

[0069] In an embodiment of the present invention, a belt is arranged on the belt frame, and the control method of the chute transfer equipment may further include: obtaining second three-dimensional point cloud data of the contour of the belt; determining a first moving direction of the belt according to the second three-dimensional point cloud data; obtaining third three-dimensional point cloud data of the contour of the main body in a preset posture; determining a second moving direction of the main body according to the third three-dimensional point cloud data; and when the first moving direction and the second moving direction are inconsistent, controlling the moving direction of the main body to be consistent with the first moving direction.

[0070] When the belt conveyor's self-moving tail is in operation, the belt is the part that guides its moving direction. Therefore, first, the first moving direction of the belt is determined based on the second three-dimensional point cloud data of the belt contour obtained, and then the second moving direction of the body is determined based on the third three-dimensional point cloud data of the body contour obtained, and it is judged whether the first moving direction and the second moving direction are consistent. If the two are inconsistent, the movement of the body is controlled to make the moving direction of the body consistent with the first moving direction, so that the body can move smoothly in the chute under the guidance of the belt frame, thereby realizing the smooth transfer of materials.

[0071] Among them, a first structured light 3D stereo imaging camera and a second structured light 3D stereo imaging camera can be set to obtain the second 3D point cloud data and the third 3D point cloud data respectively. Specifically, the first structured light 3D stereo imaging camera can be set at the position where the belt frame and the body are connected to obtain the second 3D point cloud data; the second structured light 3D stereo imaging camera can be set on the transfer machine to obtain the third 3D point cloud data of the body in a preset posture.

[0072] Among them, there are many ways to determine the first moving direction of the belt according to the second three-dimensional point cloud data. For example, the midpoint of the belt, a point on one side of the midpoint, and a point at the connection between the belt frame and the body on the other side of the midpoint can be taken, and a straight line can be formed through these three points. There is a first angle between the straight line and the central axis of the first structured light three-dimensional stereo imaging camera, and the first angle corresponds to the first moving direction; similarly, the second moving direction of the body can be determined according to the third three-dimensional point cloud data, which can be specifically taken as the midpoint of the body, a point on one side of the midpoint, and a point on the other side of the midpoint. A straight line has a second angle between the straight line and the central axis of the second structured light three-dimensional stereo imaging camera, and the second angle corresponds to the second moving direction. If the angles of the first angle and the second angle are equal or the difference between the two is within the allowable range, it means that the moving direction of the body is consistent with the first moving direction of the belt; if the angles of the first angle and the second angle are not equal and the difference between the two is not within the allowable range, it means that the moving direction of the body is inconsistent with the first moving direction of the belt. At this time, the movement of the body can be controlled so that the moving direction of the body is consistent with the first moving direction.

[0073] In the above embodiment, the third three-dimensional point cloud data of the contour of the main body is obtained in the preset posture. That is to say, after the main body is adjusted to the preset posture, the running direction of the main body can be adjusted. Compared with adjusting the direction of the main body in the offset state, the direction of the main body in the preset posture is easier to adjust, and during the adjustment process, the main body is not prone to abnormal conditions such as collision with the coal wall of the chute.

[0074] In an embodiment of the present invention, the control method of the chute transfer equipment may further include: obtaining fourth three-dimensional point cloud data of the contour of the belt frame, the fourth three-dimensional point cloud data including belt frame edge point cloud data and belt point cloud data; determining the relative position relationship between the belt frame and the belt according to the belt frame edge point cloud data and the belt point cloud data; when the relative position relationship is not parallel, controlling the movement of the main body to make the belt frame and the belt parallel to each other.

[0075] If the belt is not parallel to the belt rack, the belt is in a state of deviation, and the belt in the state of deviation is easily damaged. In the above embodiment, by acquiring the edge point cloud data of the belt rack and the belt point cloud data, and determining the relative position relationship between the belt rack and the belt according to the edge point cloud data of the belt rack and the belt point cloud data, and judging whether the relative position relationship is parallel to each other, if the relative position relationship is not parallel, controlling the movement of the body to make the belt rack and the belt parallel to each other, thereby realizing the autonomous closed-loop adjustment of the relative position of the belt rack and the belt, avoiding the deviation of the belt, and thus avoiding the damage of the belt.

[0076] It can be understood that in the above embodiment, when the relative position relationship is not parallel, the body is controlled to move so that the belt rack and the belt are parallel to each other. The mutual parallel here can include the edge of the belt rack and the belt being parallel to each other, and can also include an angle between the two, but the angle of the angle is within the allowable range, that is, when the belt deviates from the belt rack within the allowable range, the belt is not easily damaged. Correspondingly, the non-parallel here means that the angle between the edge of the belt rack and the belt exceeds the allowable range, and the belt is easily damaged.

[0077] In an embodiment of the present invention, the belt frame includes a first point and a second point arranged at intervals along its extension direction; the relative position relationship between the belt frame and the belt is determined based on the belt frame edge point cloud data and the belt point cloud data, which may specifically include: determining the third distance between the first point and the belt, and the fourth distance between the second point and the belt based on the belt frame edge point cloud data and the belt point cloud data; when the difference between the third distance and the fourth distance is greater than a third preset value, determining that the relative position relationship is non-parallel.

[0078] Among them, the third preset value is the maximum value of the difference between the third distance and the fourth distance to ensure that the belt is not easily damaged. When the difference between the third distance and the fourth distance is greater than the third preset value, the edge of the belt frame and the belt are not parallel, and the belt is in a deviated state.

[0079] In an embodiment of the present invention, the control method of the chute transfer equipment may further include: when the belt is not carrying materials, obtaining fifth three-dimensional point cloud data of the contour of the belt; when the belt is carrying materials, obtaining sixth three-dimensional point cloud data of the overall contour of the belt and the material; and determining the flow rate of the material based on the fifth three-dimensional point cloud data and the sixth three-dimensional point cloud data.

[0080] Among them, by comparing the fifth three-dimensional point cloud data with the sixth three-dimensional point cloud data, the volume of the material can be obtained, thereby realizing functions such as material volume data calculation, real-time flow statistics and coal flow monitoring.

[0081] In the embodiment of the present invention, the running speed of the belt is adjusted according to the flow rate of the material. If the flow rate of the material is large, the running speed of the belt can be increased, otherwise, the running speed of the belt can be reduced, thereby ensuring the transfer efficiency of the material.

[0082] In an embodiment of the present invention, the chute transfer equipment may further include a three-dimensional stereo camera and a transfer machine, the transfer machine is arranged on the main body, and the three-dimensional stereo camera is arranged on the transfer machine; obtaining the first three-dimensional point cloud data of the contour of the main body may specifically include: obtaining an image of the main body through the three-dimensional stereo camera; and determining the first three-dimensional point cloud data based on the image.

[0083] The three-dimensional camera can be a structured light three-dimensional imaging camera, and the number of the three-dimensional camera can be two, one of which can be fixed on the transfer machine, such as the unloading port of the transfer machine, through a gate-shaped bracket to obtain the three-dimensional point cloud data of the body contour, and the other can be fixed on the connection between the belt rack and the body through a gate-shaped bracket to obtain the three-dimensional point cloud data of the belt rack and the belt contour. It can be understood that the chute transfer equipment can also include a controller electrically connected to the three-dimensional camera, which can process the three-dimensional point cloud data and control the self-moving tail of the belt conveyor.

[0084] In an embodiment of the present invention, infrared cameras electrically connected to the controller can be installed at the edge of the crusher above the transfer machine and at the location where the main body is connected to the belt. At the same time, the chute transfer equipment can also include an alarm module electrically connected to the controller. If a person appears within the range defined by the camera around the chute transfer equipment, such as illegally climbing over the landing section of the transfer machine, approaching the entrance of the crusher, or illegally climbing the belt conveyor, and is captured and identified by the infrared camera, the controller can control the alarm module to issue an alarm message based on the signal sent by the infrared camera to remind the person that dangerous behavior is occurring at this time.

[0085] like Figure 2 As shown, an embodiment of the present invention further provides a control device 200 for a chute transfer equipment, the chute transfer equipment includes a self-moving tail of a belt conveyor, the self-moving tail of the belt conveyor includes a connected belt frame and a main body, the control device includes an acquisition unit 201, for acquiring first three-dimensional point cloud data of the contour of the main body; a determination unit 202, for determining the running posture of the main body relative to the chute coal wall according to the first three-dimensional point cloud data; a control unit 203, for controlling the main body to move to a preset posture when the overlap between the running posture and the preset posture is less than a first preset value; wherein, in the preset posture, the angle between the side wall of the main body and the chute coal wall is less than or equal to a second preset value.

[0086] The control device 200 for the chute transfer equipment provided in the embodiment of the present invention obtains the first three-dimensional point cloud data of the contour of the main body of the self-moving tail of the belt conveyor; determines the running posture of the main body of the self-moving tail of the belt conveyor relative to the coal wall of the chute based on the first three-dimensional point cloud data; and controls the main body of the self-moving tail of the belt conveyor to move to the preset posture when the overlap between the running posture and the preset posture is less than the first preset value; wherein, in the preset posture, the angle between the side wall of the main body of the self-moving tail of the belt conveyor and the coal wall of the chute is less than the second preset value, thereby realizing automatic closed-loop adjustment of the running posture of the self-moving tail of the belt conveyor, and thus no longer needs to rely on the operator to manually control the posture, thus avoiding manpower waste, improving the adjustment efficiency of the equipment in the chute, and reducing the safety risk of the operator.

[0087] Furthermore, the determination unit 202 is specifically used to determine the first distance and the second distance of the head and the tail of the machine relative to the coal wall of the chute according to the first three-dimensional point cloud data; when the difference between the first distance and the second distance is greater than a third preset value, determine that the overlap between the running posture and the preset posture is less than the first preset value; when the difference between the first distance and the second distance is less than or equal to the third preset value, determine that the overlap between the running posture and the preset posture is greater than or equal to the first preset value.

[0088] Furthermore, the determination unit 202 is specifically used to fit the chute coal wall point cloud data into the chute coal wall line segments; fit the body side wall point cloud data into the body side wall line segments; and determine the first distance and the second distance based on the chute coal wall line segments and the body side wall line segments.

[0089] Furthermore, a belt is provided on the belt rack, and the acquisition unit 201 is also used to acquire second three-dimensional point cloud data of the contour of the belt; the determination unit 202 is also used to determine the first moving direction of the belt based on the second three-dimensional point cloud data; the acquisition unit 201 is also used to acquire third three-dimensional point cloud data of the contour of the main body in a preset posture; the determination unit 202 is also used to determine the second moving direction of the main body based on the third three-dimensional point cloud data; the control unit 203 is also used to control the moving direction of the main body to be consistent with the first moving direction when the first moving direction and the second moving direction are inconsistent.

[0090] Furthermore, the acquisition unit 201 is also used to acquire fourth three-dimensional point cloud data of the contour of the belt rack, and the fourth three-dimensional point cloud data includes belt rack edge point cloud data and belt point cloud data; the determination unit 202 is also used to determine the relative position relationship between the belt rack and the belt based on the belt rack edge point cloud data and the belt point cloud data; the control unit 203 is also used to control the movement of the main body when the relative position relationship is not parallel, so that the belt rack and the belt are parallel to each other.

[0091] Furthermore, the belt rack includes a first point and a second point arranged at intervals along its extension direction; the determination unit 202 is specifically used to determine a third distance between the first point and the belt, and a fourth distance between the second point and the belt based on the belt rack edge point cloud data and the belt point cloud data; when the difference between the third distance and the fourth distance is greater than a third preset value, the relative position relationship is determined to be non-parallel.

[0092] Furthermore, the acquisition unit 201 is also used to acquire fifth three-dimensional point cloud data of the contour of the belt when the belt is not carrying material; and to acquire sixth three-dimensional point cloud data of the overall contour of the belt and material when the belt is carrying material; the determination unit 202 is also used to determine the flow rate of the material based on the fifth three-dimensional point cloud data and the sixth three-dimensional point cloud data.

[0093] Furthermore, the control unit 203 is specifically configured to adjust the running speed of the belt according to the flow rate of the material.

[0094] Furthermore, the chute transfer equipment also includes a three-dimensional stereo camera and a transfer machine, the transfer machine is arranged on the main body, and the three-dimensional stereo camera is arranged on the transfer machine; the acquisition unit 201 is also specifically used to acquire the image of the main body through the three-dimensional stereo camera; according to the image, determine the first three-dimensional point cloud data.

[0095] like Figure 3 As shown, an embodiment of the present invention further provides an electronic device 300, including a processor 301 and a memory 302, wherein the memory 302 stores programs or instructions that can be executed on the processor 301, and when the programs or instructions are executed by the processor 301, the steps of the control method of the chute transfer equipment as in any one of the above technical solutions are implemented.

[0096] The electronic device 300 provided in the embodiment of the present invention includes a memory 302 and a processor 301, and also includes a program or instruction stored in the memory 302. When the program or instruction is executed by the processor, the steps of the control method of the above-mentioned chute transfer equipment can be implemented. Therefore, the electronic device has all the beneficial effects of the control method of the above-mentioned chute transfer equipment, which will not be repeated here.

[0097] An embodiment of the present invention further provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of a control method for a chute transfer device as in any one of the above technical solutions are implemented.

[0098] The readable storage medium provided by the embodiment of the present invention stores a program or instruction thereon, and when the program or instruction is executed by the processor, the steps of the control method of the chute transfer equipment in any one of the above technical solutions can be implemented. Therefore, the readable storage medium has all the beneficial effects of the control method of the chute transfer equipment, which will not be described in detail here.

[0099] 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 make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a chute transfer device, characterized in that: The chute transfer equipment includes a self-moving tail of a belt conveyor, and the self-moving tail of the belt conveyor includes a belt frame and a body connected thereto. The control method includes: Acquire first three-dimensional point cloud data of the outline of the body; Determining the running posture of the main body relative to the coal wall of the chute according to the first three-dimensional point cloud data; When the overlap between the running posture and the preset posture is less than a first preset value, the body is controlled to move to the preset posture; wherein, in the preset posture, the angle between the side wall of the body and the coal wall of the chute is less than or equal to a second preset value.

2. The control method according to claim 1, characterized in that: The main body includes a head portion and a tail portion arranged along the moving direction thereof; and determining the running posture of the main body relative to the coal wall of the chute according to the first three-dimensional point cloud data includes: Determine, according to the first three-dimensional point cloud data, a first distance and a second distance of the head portion and the tail portion relative to the coal wall of the chute; When the difference between the first distance and the second distance is greater than a third preset value, determining that the degree of overlap between the running posture and the preset posture is less than the first preset value; When the difference between the first distance and the second distance is less than or equal to the third preset value, it is determined that the degree of overlap between the running posture and the preset posture is greater than or equal to the first preset value.

3. The control method according to claim 2, characterized in that: The first three-dimensional point cloud data includes coal wall point cloud data of the chute and body side wall point cloud data; and determining the first distance and the second distance of the head and the tail of the machine relative to the coal wall of the chute respectively according to the first three-dimensional point cloud data, comprising: Fitting the coal wall point cloud data of the chute into coal wall line segments of the chute; Fitting the body side wall point cloud data into body side wall line segments; The first distance and the second distance are determined according to the chute coal wall line segment and the main body side wall line segment.

4. The control method according to claim 1, characterized in that: The belt rack is provided with a belt, and the control method further comprises: Acquire second three-dimensional point cloud data of the profile of the belt; determining a first moving direction of the belt according to the second three-dimensional point cloud data; In the preset posture, obtaining third three-dimensional point cloud data of the outline of the body; Determining a second moving direction of the body according to the third three-dimensional point cloud data; When the first moving direction is inconsistent with the second moving direction, the moving direction of the body is controlled to be consistent with the first moving direction.

5. The control method according to claim 1, characterized in that: The belt rack is provided with a belt, and the control method further comprises: Acquire fourth three-dimensional point cloud data of the outline of the belt rack, wherein the fourth three-dimensional point cloud data includes belt rack edge point cloud data and belt point cloud data; Determine the relative position relationship between the belt rack and the belt according to the belt rack edge point cloud data and the belt point cloud data; When the relative position relationship is non-parallel, the body is controlled to move so that the belt rack and the belt are parallel to each other.

6. The control method according to claim 5, characterized in that: The belt rack includes a first point and a second point arranged at intervals along the extension direction thereof; and determining the relative position relationship between the belt rack and the belt according to the edge point cloud data of the belt rack and the belt point cloud data includes: Determine a third distance between the first point and the belt, and a fourth distance between the second point and the belt, according to the belt rack edge point cloud data and the belt point cloud data; When the difference between the third distance and the fourth distance is greater than a third preset value, it is determined that the relative position relationship is non-parallel.

7. The control method according to claim 1, characterized in that: The belt rack is provided with a belt, and the control method further comprises: When the belt is not carrying any material, obtaining fifth three-dimensional point cloud data of the contour of the belt; In the case where the belt carries the material, obtaining sixth three-dimensional point cloud data of the overall contour of the belt and the material; The flow rate of the material is determined according to the fifth three-dimensional point cloud data and the sixth three-dimensional point cloud data.

8. A control device for a chute transfer device, characterized in that: The chute transfer equipment includes a self-moving tail of a belt conveyor, and the self-moving tail of the belt conveyor includes a belt frame and a body connected thereto, and the control device includes: An acquisition unit, used for acquiring first three-dimensional point cloud data of the outline of the body; A determination unit, used for determining the running posture of the body relative to the coal wall of the chute according to the first three-dimensional point cloud data; A control unit is used to control the body to move to the preset posture when the overlap between the running posture and the preset posture is less than a first preset value; wherein, in the preset posture, the angle between the side wall of the body and the coal wall of the chute is less than or equal to a second preset value.

9. An electronic device, characterized in that: include: A processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the control method of the chute transfer equipment as described in any one of claims 1 to 8 are implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the control method of the chute transfer equipment according to any one of claims 1 to 8 are implemented.

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