Method for identifying and dredging blockage of grizzly screen of draw shaft

Abstract

The invention discloses a method for identifying and dredging blockage of a grizzly screen of a draw shaft, and aims to improve the automation level and safety of mine production. According to the system, an infrared scanner is adopted to obtain three-dimensional information of a grizzly screen and ore in real time, and a blocked area is accurately recognized through filtering, edge detection, feature extraction and other algorithms. The ore draw shaft anti-blocking device executes efficient dredging and crushing operation according to the recognition result and comprises a movable bottom ring, a fixed bottom ring, a crushing hammer and other assemblies, and the accuracy and safety of operation are ensured. In addition, the system further has the functions of dust falling, monitoring and the like, environmental pollution and potential safety hazards are effectively reduced, all-weather unmanned operation is achieved, and the efficiency and safety of mine production are remarkably improved.

Description

Technical Field

[0001] The invention relates to the technical field of mining machinery and equipment, and in particular to a method for identifying and clearing the blockage of a chute grid screen. Background Art

[0002] In mining operations, the chute screen is a key equipment in the ore transportation process. Its main function is to perform preliminary screening of ore to ensure that only ore that meets the particle size standard can enter the subsequent transportation or processing links. However, the screen frequently encounters blockage problems in actual use, and some ores that do not meet the particle size requirements need further crushing. At present, the main way to solve these problems is to manually operate an electric hydraulic manipulator to clear the blockage and perform secondary crushing.

[0003] Although the existing treatment methods can solve the problem to a certain extent, they still have the following shortcomings: 1. Manual operation is limited by working hours and human resources, and cannot achieve all-weather uninterrupted operation. For example, there may be a situation of poor work connection during the shift of workers. Once the grid screen is blocked and not handled in time, it will lead to the interruption of the entire ore transportation and production process, seriously affecting the production efficiency of the mine; 2. When the electric hydraulic manipulator is manually operated, the position of the blockage on the screen and the characteristics of the ore that needs secondary crushing are mainly judged based on the operator's visual observation and practical experience. However, human visual ability is limited, and the experience and skill levels of operators vary greatly, which leads to low accuracy in crushing and unblocking. It is easy to make deviations when locating the exact position of the blockage, and it is difficult to accurately control the impact force and angle of the target object, and even possible erroneous operation on non-target ores; 3. The working environment of the chute is extremely harsh and there are many potential dangers. First, there may be a risk of falling rocks above the chute, which poses a threat to the lives of the operators below; second, the large amount of dust generated during the ore transportation process not only interferes with the operators' vision, but long-term exposure may also damage their health. Manual operation in such a dangerous environment greatly increases the possibility of accidents. Summary of the invention

[0004] In view of the technical problems existing in the background technology, the present invention aims to provide an efficient, accurate and safe automatic identification and processing system for chute grid screen blockage, so as to overcome the shortcomings of the prior art and improve the automation level and safety of mine production.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions to achieve: A method for identifying and clearing a well screen blockage comprises the following steps: S1. Use infrared scanner recognition and positioning system to obtain three-dimensional information of the chute grid screen and ore; S2. According to the three-dimensional information described in step S1, the ore chute anti-blocking device is used to break and clear the grid screen blockage.

[0006] In a preferred solution, in step S1, the specific steps of obtaining the three-dimensional information of the chute grid screen and the ore include: S2.1, emit infrared light to the chute grid screen area, receive reflected light and construct a three-dimensional model of the grid screen and ore based on the infrared imaging principle; S2.2, processing the collected three-dimensional data, removing noise points through filtering algorithms, and identifying the relevant information of the grid structure, blocked grid holes, and ore using feature extraction algorithms; S2.3, identify the area that meets the blockage characteristics through shape matching algorithm, and determine the approximate volume of the ore based on the data changes; S2.4. The coordinates of the grille holes are determined by three-dimensional scanning, and the location can be accurately found when blocked, which helps to efficiently clear the ore chute anti-blocking device.

[0007] In a preferred embodiment, in S2.2, the three-dimensional data processing method includes the following steps: S2.21. Use median filtering or Gaussian filtering algorithm to remove noise points from the collected 3D point cloud data; The median filter is to sort the points in the neighborhood of each point cloud data point and take the median as the new value of the point; The Gaussian filter is to apply Gaussian weights to points in the neighborhood of each point cloud data point and calculate the weighted average value as the new value of the point; S2.22. Use the Canny edge detection algorithm or the Sobel operator to detect the outline of the grid, calculate the gradient amplitude and direction of the point cloud data, and identify the edge of the grid; S2.23, using template matching or feature point matching algorithm to identify the blocked area; The template matching is to predefine a standard grid hole shape template, search for areas similar to the template in the point cloud data, calculate the matching degree, and the area with a matching degree higher than a threshold is considered to be a blocked area; The feature point matching is to extract feature points using SIFT or SURF algorithm, calculate the descriptors of the feature points, perform feature point matching, and use the set of successfully matched feature points as candidates for the blocked area; S2.24. Calculate the density of point cloud data in different areas. Point clouds with a density significantly higher than that of the background area are considered to be ore or other obstructions. S2.25. Perform three-dimensional scanning on the grille holes to obtain the coordinate information of each hole, compare the coordinate changes before and after the blockage, and determine the specific location and degree of the blockage; S2.26. The processed data and identification results are output for further operation of the ore chute anti-blocking device.

[0008] In the preferred scheme, in step S2, the ore chute anti-blocking device includes a movable bottom ring, a fixed bottom ring and a breaker hammer, the fixed bottom ring is installed on the outside of the chute mouth, the movable bottom ring is movably connected to the upper end face of the fixed bottom ring and is coaxially arranged, a driving device is installed on the movable bottom ring and drives the movable bottom ring to rotate around its own axis, a base is installed on the upper end face of the movable bottom ring, a breaker hammer and a cab are installed on the base, and a dust reduction device is also provided on the movable bottom ring.

[0009] In a preferred embodiment, an annular groove is provided on the upper end surface of the fixed bottom ring, an annular rail is provided on the lower end surface of the movable bottom ring, a roller is provided in the annular groove, and the annular rail is clamped in the annular groove and provided above the roller.

[0010] In a preferred solution, the driving device includes a driving motor, an annular gear plate is arranged on the inner side of the fixed bottom ring, the driving motor is installed on the upper end surface of the movable bottom ring, and the transmission gear on the driving motor is meshedly connected with the annular gear plate.

[0011] In the preferred solution, an infrared scanner is installed above the chute opening; and a universal wheel is installed on the bottom surface of the base.

[0012] In a preferred solution, monitoring cameras are symmetrically arranged in a ring on the fixed bottom ring, the monitoring cameras are connected in series with each other through data cables, and the monitoring cameras are connected to an external power supply through a power cable.

[0013] A method for identifying and unclogging a well screen blockage, the beneficial effects of the method include but are not limited to the following: 1. The present invention uses an infrared scanner to obtain the three-dimensional information of the grid screen and the ore in real time, quickly identifies the blockage position through an intelligent algorithm, and guides the ore chute anti-blockage device to perform efficient dredging and crushing operations without manual intervention, realizing all-weather continuous operation and greatly improving production efficiency; 2. The infrared scanner can accurately obtain the three-dimensional data of the grid screen and the ore, and combine advanced algorithms such as filtering, edge detection, and feature extraction to accurately identify the blocked area and ore location, ensure the accuracy of dredging and crushing operations, and avoid errors and misoperations in manual operations; 3. The automated identification and processing system replaces manual operation, which reduces the exposure time of operators in harsh environments, reduces the threat of dangerous factors such as falling rocks and dust to operators, and significantly improves the safety of operations; 4. The movable bottom ring and the fixed bottom ring of the ore chute anti-blocking device cooperate with each other through the annular groove and the rail to ensure the stable rotation of the movable bottom ring; the meshing connection design of the drive motor and the annular gear plate provides a reliable driving force. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the ore chute anti-blocking device of the present invention; Figure 2 This is a schematic diagram of disassembling the fixed bottom ring and the movable bottom ring structure of the present invention; Figure 3 It is an enlarged schematic diagram of the bottom structure of the base of the present invention; Figure 4 It is a schematic diagram of the structure of the monitoring device of the present invention.

[0015] In the figure: chute mouth 1, movable bottom ring 2, fixed bottom ring 3, drive motor 4, transmission gear 5, base 6, cab 7, breaker 8, monitoring camera 9, infrared scanner 10, data cable 11, power cable 12, card slot 13, annular gear plate 14, annular card rail 15, universal wheel 16, atomizing nozzle 17, roller 18. DETAILED DESCRIPTION

[0016] A method for identifying and clearing a well screen blockage comprises the following steps: S1. Use infrared scanner recognition and positioning system to obtain three-dimensional information of the chute grid screen and ore; S2. According to the three-dimensional information described in S1, the ore chute anti-blocking device is used to break and clear the grid screen blockage.

[0017] In a preferred solution, in step S1, the specific steps of obtaining the three-dimensional information of the chute grid screen and the ore include: S2.1, emit infrared light to the chute grid screen area, receive reflected light and construct a three-dimensional model of the grid screen and ore based on the infrared imaging principle; S2.2, processing the collected three-dimensional data, removing noise points through filtering algorithms, and identifying the relevant information of the grid structure, blocked grid holes, and ore using feature extraction algorithms; S2.3, identify the area that meets the blockage characteristics through shape matching algorithm, and determine the approximate volume of the ore based on the data changes; S2.4. The coordinates of the grille holes are determined by three-dimensional scanning, and the location can be accurately found when blocked, which helps to efficiently clear the ore chute anti-blocking device.

[0018] In a preferred embodiment, in S2.2, the three-dimensional data processing method includes the following steps: S2.21. Use median filtering or Gaussian filtering algorithm to remove noise points from the collected 3D point cloud data; The median filter is to sort the points in the neighborhood of each point cloud data point and take the median as the new value of the point; The Gaussian filter is to apply Gaussian weights to points in the neighborhood of each point cloud data point and calculate the weighted average value as the new value of the point; S2.22. Use the Canny edge detection algorithm or the Sobel operator to detect the outline of the grid, calculate the gradient amplitude and direction of the point cloud data, and identify the edge of the grid; S2.23, using template matching or feature point matching algorithm to identify the blocked area; The template matching is to predefine a standard grid hole shape template, search for areas similar to the template in the point cloud data, calculate the matching degree, and the area with a matching degree higher than a threshold is considered to be a blocked area; The feature point matching is to extract feature points using SIFT or SURF algorithm, calculate the descriptors of the feature points, perform feature point matching, and use the set of successfully matched feature points as candidates for the blocked area; S2.24. Calculate the density of point cloud data in different areas. Point clouds with a density significantly higher than that of the background area are considered to be ore or other obstructions. S2.25. Perform three-dimensional scanning on the grille holes to obtain the coordinate information of each hole, compare the coordinate changes before and after the blockage, and determine the specific location and degree of the blockage; S2.26. The processed data and identification results are output for further operation of the ore chute anti-blocking device.

[0019] The preferred solution is Figure 1 As shown, in step S2, the ore chute anti-blocking device includes a movable bottom ring 2, a fixed bottom ring 3 and a breaker 8, the fixed bottom ring 3 is arranged outside the chute mouth 1, the movable bottom ring 2 is movably connected to the upper end surface of the fixed bottom ring 3 and is coaxially arranged, the movable bottom ring 2 is provided with a driving device and drives the movable bottom ring 2 to rotate around its own axis, the upper end surface of the movable bottom ring 2 is provided with a base 6, the base 6 is provided with a breaker 8 and a cab 7, and the movable bottom ring 2 is also provided with a dust suppression device; The movable bottom ring 2 can drive the breaker 8 and the cab 7 to rotate around the chute 1 and perform all-round crushing and clearing work. The breaker can also perform external force vibration on the blockage point, which can effectively solve the problem of screen blockage at the chute 1.

[0020] The preferred solution is Figure 2 and Figure 3As shown, the upper end surface of the fixed bottom ring 3 is provided with an annular groove 13, and the lower end surface of the movable bottom ring 2 is correspondingly provided with an annular rail 15, and a roller 18 is provided in the annular groove 13, and the annular rail 15 is clamped in the annular groove 13 and arranged above the roller 18. The driving device includes a driving motor 4, and an annular gear plate 14 is provided on the inner side of the fixed bottom ring 3. The driving motor 4 is installed on the upper end surface of the movable bottom ring 2, and the transmission gear 5 on the driving motor 4 is meshed and connected with the annular gear plate 14; When it is necessary to drive the movable bottom ring 2 to rotate, the driving motor 4 is started and drives the transmission gear 5 to rotate. The transmission gear 5 is meshed with the annular gear plate 14 and drives the movable bottom ring 2 to rotate around the axis of the fixed bottom ring 3. The roller 18 in the annular groove 13 can effectively reduce the friction generated during rotation to ensure the smoothness of the rotation of the movable bottom ring 2. When the movable bottom ring 2 rotates slowly around the fixed bottom ring 3 and its own axis, it drives the cab 7 and the breaker 8 to rotate synchronously, thereby realizing all-round crushing and clearing work.

[0021] The preferred solution is Figure 3 As shown, an infrared scanner 10 is installed above the chute opening 1; a universal wheel 16 is installed on the bottom surface of the base 6; through the infrared scanner 10, infrared rays can be emitted to the chute grid screen area, reflected light can be received, and a three-dimensional model of the grid screen and the ore can be constructed based on the infrared imaging principle, and the collected three-dimensional data can be processed, and noise points can be removed through a filtering algorithm, and related information of the grid screen structure, blocked grid holes and ore can be identified using a feature extraction algorithm; the universal wheel 16 can support the rear side of the base 6 without affecting the free rotation of the base 6.

[0022] The preferred solution is Figure 4 As shown, monitoring cameras 9 are symmetrically arranged in a ring on the fixed bottom ring 3, and the monitoring cameras 9 are connected in series with each other through data cables 11, and the monitoring cameras 9 are connected to an external power supply through a power cable 12; by setting up a ring-shaped camera, the real-time situation in the chute can be further controlled, and then the blockage point can be accurately locked and cleared at a fixed point in cooperation with the driving device and the breaker.

[0023] Embodiment: A method for identifying and clearing a well screen blockage; Step S1: Acquire three-dimensional information of the chute grid screen and ore; S1.1, install an infrared scanner 10 above the chute opening to emit infrared rays to the chute grid screen area; S1.2, the infrared scanner 10 receives the infrared light reflected from the grid screen and the ore surface; S1.3. Based on the infrared imaging principle, the infrared scanner 10 converts the received reflected light data into digital signals and constructs a three-dimensional model of the grid screen and the ore through image processing software.

[0024] Step S2: three-dimensional data processing; S2.1. De-noising the data: Sort the points in the neighborhood of each point cloud data point and take the median as the new value of the point; Apply Gaussian weights to the points in the neighborhood of each point cloud data point and calculate the weighted average as the new value of the point; S2.2, perform edge detection on the data: Use the Canny edge detection algorithm or the Sobel operator to detect the outline of the grid, calculate the gradient amplitude and direction of the point cloud data, and identify the edge of the grid; S2.3, extract features from data: A standard grid hole shape template is predefined, and the area similar to the template is searched in the point cloud data, and the matching degree is calculated. The area with a matching degree higher than the threshold is considered to be a blocked area; Use SIFT or SURF algorithm to extract feature points, calculate the descriptors of feature points, perform feature point matching, and use the set of successfully matched feature points as candidates for the blocked area; S2.4. Calculate the density of the data: Calculate the density of point cloud data in different areas. Point clouds with a density significantly higher than that of the background area are considered to be ore or other blockages. S2.5, coordinate determination: perform three-dimensional scanning on the grille holes, obtain the coordinate information of each hole, compare the coordinate changes before and after the blockage, and determine the specific location and degree of the blockage; S2.6. The processed data and identification results are output for further operation of the ore chute anti-blocking device.

[0025] Step S3: Blockage breaking and unblocking operations; S3.1. Install a fixed bottom ring 3 on the outer side of the chute opening 1; S3.2. An annular groove 13 is provided on the upper end surface of the fixed bottom ring 3, and an annular rail 15 is provided on the lower end surface of the movable bottom ring 2. A roller 18 is provided in the annular groove 13. The annular rail 15 is clamped in the annular groove 13 and is provided above the roller 18. S3.3. A driving device is installed on the movable bottom ring 2, and the driving device includes a driving motor 4. An annular gear plate 14 is arranged on the inner side of the fixed bottom ring 3. The driving motor 4 is installed on the upper end surface of the movable bottom ring 2, and the transmission gear 5 on the driving motor 4 is meshed and connected with the annular gear plate 14; a base 6 is installed on the upper end surface of the movable bottom ring 2, and a breaker 8 and a cab 7 are installed on the base 6; S3.4, the driving motor 4 is started, driving the transmission gear 5 to rotate, and the transmission gear 5 is meshed and connected with the annular gear plate 14, driving the movable bottom ring 2 to rotate around the axis of the fixed bottom ring 3; the rotation of the movable bottom ring 2 drives the breaker 8 on the base 6 and the cab 7 to rotate synchronously, realizing all-round crushing and clearing work; S3.5, according to the blockage position identified in step S2, control the breaker 8 to move to the blockage area; S3.6, the breaker 8 performs a crushing operation on the blockage, and at the same time helps to clear the grid screen holes through external force vibration; the dust suppression device on the movable bottom ring 2 is activated to reduce the dust generated during the crushing process, protecting the operating environment and the health of the operators; S3.7, the monitoring camera 9 monitors the real-time situation in the chute in real time, accurately locates the blockage point and cooperates with the driving device and the breaker 8 to clear the blockage point.

[0026] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from all points of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention; any reference numerals in the claims should not be regarded as limiting the claims involved.

Claims

1. A method for identifying and unclogging a well screen blockage, characterized in that: The following steps are involved: S1. Use infrared scanner recognition and positioning system to obtain three-dimensional information of the chute grid screen and ore; S2. According to the three-dimensional information described in step S1, the ore chute anti-blocking device is used to break and clear the grid screen blockage.

2. The method for identifying and clearing a well screen blockage according to claim 1, characterized in that: In step S1, the specific steps of obtaining the three-dimensional information of the chute grid screen and the ore include: S2.1, emit infrared light to the chute grid screen area, receive reflected light and construct a three-dimensional model of the grid screen and ore based on the infrared imaging principle; S2.2, processing the collected three-dimensional data, removing noise points through filtering algorithms, and identifying the relevant information of the grid structure, blocked grid holes, and ore using feature extraction algorithms; S2.3, identify the area that meets the blockage characteristics through shape matching algorithm, and determine the approximate volume of the ore based on the data changes; S2.

4. The coordinates of the grille holes are determined by three-dimensional scanning, and the location can be accurately found when blocked, which helps to efficiently clear the ore chute anti-blocking device.

3. The method for identifying and clearing a well screen blockage according to claim 2, characterized in that: In S2.2, the three-dimensional data processing method includes the following steps: S2.

21. Use median filtering or Gaussian filtering algorithm to remove noise points from the collected 3D point cloud data; The median filter is to sort the points in the neighborhood of each point cloud data point and take the median as the new value of the point; The Gaussian filter is to apply Gaussian weights to points in the neighborhood of each point cloud data point and calculate the weighted average value as the new value of the point; S2.

22. Use the Canny edge detection algorithm or the Sobel operator to detect the outline of the grid, calculate the gradient amplitude and direction of the point cloud data, and identify the edge of the grid; S2.23, using template matching or feature point matching algorithm to identify the blocked area; The template matching is to predefine a standard grid hole shape template, search for areas similar to the template in the point cloud data, calculate the matching degree, and the area with a matching degree higher than a threshold is considered to be a blocked area; The feature point matching is to extract feature points using SIFT or SURF algorithm, calculate the descriptors of the feature points, perform feature point matching, and use the set of successfully matched feature points as candidates for the blocked area; S2.

24. Calculate the density of point cloud data in different areas. Point clouds with a density significantly higher than that of the background area are considered to be ore or other obstructions. S2.

25. Perform three-dimensional scanning on the grille holes to obtain the coordinate information of each hole, compare the coordinate changes before and after the blockage, and determine the specific location and degree of the blockage; S2.

26. The processed data and identification results are output for further operation of the ore chute anti-blocking device.

4. The method for identifying and clearing a well screen blockage according to claim 1, characterized in that: In step S2, the ore chute anti-blocking device comprises a movable bottom ring (2), a fixed bottom ring (3) and a breaker (8), wherein the fixed bottom ring (3) is arranged outside the chute opening (1), the movable bottom ring (2) is movably connected to the upper end surface of the fixed bottom ring (3) and is coaxially arranged, the movable bottom ring (2) is provided with a driving device which drives the movable bottom ring (2) to rotate around its own axis, the upper end surface of the movable bottom ring (2) is provided with a base (6), the base (6) is provided with a breaker (8) and a cab (7), and the movable bottom ring (2) is also provided with a dust suppression device.

5. The method for identifying and clearing a chute grid screen blockage according to claim 4, characterized in that: An annular clamping groove (13) is formed on the upper end surface of the fixed bottom ring (3), and an annular clamping rail (15) is correspondingly formed on the lower end surface of the movable bottom ring (2). A roller (18) is disposed in the annular clamping groove (13), and the annular clamping rail (15) is clamped in the annular clamping groove (13) and disposed above the roller (18).

6. The method for identifying and clearing a chute grid screen blockage according to claim 4, characterized in that: The driving device comprises a driving motor (4), an annular gear plate (14) is arranged on the inner side of the fixed bottom ring (3), the driving motor (4) is arranged on the upper end surface of the movable bottom ring (2), and the transmission gear (5) on the driving motor (4) is meshedly connected with the annular gear plate (14).

7. The method for identifying and clearing a well screen blockage according to claim 4, characterized in that: An infrared scanner (10) is installed above the chute opening (1); and a universal wheel (16) is installed on the bottom surface of the base (6).

8. The method for identifying and clearing a chute grid blockage according to claim 4, characterized in that: Monitoring cameras (9) are symmetrically arranged on the fixed bottom ring (3) in a ring shape. The monitoring cameras (9) are connected in series with each other via data cables (11), and the monitoring cameras (9) are connected to an external power source via a power cable (12).

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