A chute screen blockage identification and unblocking method

Abstract

This invention discloses a method for identifying and clearing blockages in ore pass screens, aiming to improve the automation level and safety of mine production. The system uses an infrared scanner to acquire real-time three-dimensional information of the screen and ore, and accurately identifies blockage areas through algorithms such as filtering, edge detection, and feature extraction. Based on the identification results, the ore pass anti-blockage device performs efficient clearing and crushing operations, including components such as a movable bottom ring, a fixed bottom ring, and a breaker hammer, ensuring the accuracy and safety of the operation. In addition, the system also has dust suppression and monitoring functions, effectively reducing environmental pollution and safety hazards, achieving unmanned operation around the clock, and significantly improving the efficiency and safety of mine production.

Description

Technical Field

[0001] This invention relates to the field of mining machinery and equipment technology, and in particular to a method for identifying and clearing blockages in a chute screen. Background Technology

[0002] In mining operations, ore pass screens are key equipment in the ore transportation process. Their main function is to perform preliminary screening of ore, ensuring that only ore meeting particle size standards can enter subsequent transportation or processing stages. However, ore pass screens frequently encounter clogging problems in actual use, and some ore that does not meet the particle size requirements needs further crushing. Currently, 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 existing methods can solve the problem to some extent, they still have the following shortcomings: 1. Due to limitations in working hours and manpower, manual operation cannot achieve continuous 24 / 7 operation. For example, during worker shifts, there may be issues with seamless workflow. If the screen becomes clogged and is not addressed in a timely manner, it can lead to the interruption of the entire ore transportation and production process, severely impacting the mine's production efficiency. 2. When manually operating an electric hydraulic manipulator, the operator mainly relies on visual observation and practical experience to determine the location of blockages on the screen and the characteristics of the ore requiring secondary crushing. However, human visual ability is limited, and there are significant differences in experience and skill levels among operators, resulting in low accuracy in crushing and unblocking operations. Deviations are prone to occur when pinpointing the exact location of blockages, and the impact force and angle on the target ore are difficult to control precisely, potentially even leading to incorrect operation on non-target ore. 3. The working environment in the ore pass is extremely harsh, with multiple potential hazards. First, there is a risk of falling rocks above the pass, posing a life-threatening danger to the operators below. Second, the large amount of dust generated during ore transportation not only obstructs the operators' vision but also, with prolonged exposure, can damage their health. Performing manual operations in such a dangerous environment greatly increases the likelihood 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 treatment system for blockage of ore pass screens, so as to overcome the shortcomings of the prior art and improve the automation level and safety of mine production.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A method for identifying and clearing blockages in a chute screen includes the following steps: S1. Use an infrared scanner to identify and locate the three-dimensional information of the ore chute screen and ore. S1.1. Emit infrared light into the ore pass screen area, receive the reflected light, and construct a three-dimensional model of the screen and ore based on the principle of infrared imaging. S1.2 Process the collected three-dimensional data, remove noise points through filtering algorithms, and use feature extraction algorithms to identify the grid structure, blocked grid holes, and ore-related information. S1.2.1. Use median filtering or Gaussian filtering algorithms to remove noise points from the collected 3D point cloud data; The median filtering involves sorting the points in the neighborhood of each point cloud data point and taking the median as the new value for that point. The Gaussian filtering method applies Gaussian weights to the points in the neighborhood of each point cloud data point and calculates a weighted average as the new value of that point. S1.2.2 Use the Canny edge detection algorithm or the Sobel operator to detect the contour of the grid sieve, calculate the gradient magnitude and direction of the point cloud data, and identify the edges of the grid sieve; S1.2.3. Use template matching or feature point matching algorithms to identify blocked areas; The template matching is a predefined standard grid hole shape template. The region in the point cloud data that is similar to the template is searched, and the matching degree is calculated. The region with the matching degree higher than the threshold is considered to be a blockage region. The feature point matching process involves extracting feature points using the SIFT or SURF algorithm, calculating the descriptors of the feature points, performing feature point matching, and using the set of successfully matched feature points as candidates for the blockage region. S1.2.4 Calculate the density of point cloud data in different regions. Point clouds with a density significantly higher than that of the background region are considered to be ore or other blockages. S1.2.5 Perform a three-dimensional scan of the grid sieve holes to obtain the coordinate information of each hole, compare the coordinate changes before and after clogging, and determine the specific location and degree of clogging; S1.2.6 Output the processed data and identification results for further operation of the ore pass anti-clogging device; S1.3 Identify areas that match the blockage characteristics using a shape matching algorithm, and determine the approximate volume of the ore based on data changes; S1.4. By determining the coordinates of the screen holes through three-dimensional scanning, the location can be accurately found when blockage occurs, which helps the ore pass anti-blockage device to operate efficiently. S2. Based on the three-dimensional information described in step S1, the blockage of the screen is broken and cleared by the ore chute anti-blockage device.

[0006] In the preferred embodiment, in step S2, the ore chute anti-blocking device includes a movable bottom ring (2), a fixed bottom ring (3), and a breaker hammer (8). The fixed bottom ring (3) is installed on the outside of the chute opening (1). The movable bottom ring (2) is movably connected to the upper end face of the fixed bottom ring (3) and is coaxially arranged. A driving device is installed on the movable bottom ring (2) and drives the movable bottom ring (2) to rotate around its own axis. A base (6) is installed on the upper end face of the movable bottom ring (2). The breaker hammer (8) and the cab (7) are installed on the base (6). A dust suppression device is also installed on the movable bottom ring (2).

[0007] In a preferred embodiment, an annular groove (13) is provided on the upper end face of the fixed bottom ring (3), and an annular rail (15) is provided on the lower end face of the movable bottom ring (2). A roller (18) is provided in the annular groove (13), and the annular rail (15) is engaged in the annular groove (13) and positioned above the roller (18).

[0008] In a preferred embodiment, the driving device includes a drive motor (4), an annular toothed plate (14) is provided on the inner side of the fixed bottom ring (3), the drive motor (4) is mounted on the upper end face of the movable bottom ring (2), and the transmission gear (5) on the drive motor (4) meshes with the annular toothed plate (14).

[0009] In the preferred embodiment, an infrared scanner (10) is installed above the chute opening (1); and casters (16) are installed on the bottom surface of the base (6).

[0010] In the preferred embodiment, a monitoring camera (9) is symmetrically arranged on the fixed bottom ring (3). The monitoring cameras (9) are connected in series with each other through a data cable (11), and the monitoring cameras (9) are connected to an external power source through a power cable (12).

[0011] A method for identifying and clearing blockages in a chute screen, the beneficial effects of which include, but are not limited to, the following: 1. This invention utilizes an infrared scanner to acquire real-time three-dimensional information of the screen and ore, and uses an intelligent algorithm to quickly identify the blockage location and guide the ore pass anti-blockage device to perform efficient unblocking and crushing operations without manual intervention, achieving continuous operation around the clock and greatly improving production efficiency. 2. The infrared scanner can accurately acquire three-dimensional data of the screen and ore. Combined with advanced algorithms such as filtering, edge detection, and feature extraction, it can accurately identify the blockage area and the location of the ore, ensuring the accuracy of the unblocking and crushing operations and avoiding errors and misoperations in manual operation. 3. By replacing manual operation with an automated identification and processing system, the exposure time of operators in harsh environments is reduced, the threat of dangerous factors such as falling rocks and dust to operators is reduced, and the safety of operations is significantly improved. 4. The movable bottom ring and the fixed bottom ring of the ore pass anti-clogging device are matched by annular grooves and rails to ensure the stable rotation of the movable bottom ring; the meshing connection design between the drive motor and the annular toothed plate provides reliable driving force. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of the ore pass anti-clogging device of the present invention; Figure 2 This is a disassembled schematic diagram of the fixed bottom ring and movable bottom ring structure of the present invention; Figure 3 This is an enlarged schematic diagram of the bottom structure of the base of the present invention; Figure 4 This is a schematic diagram of the monitoring device of the present invention.

[0013] In the diagram: 1. Well chute opening; 2. Movable bottom ring; 3. Fixed bottom ring; 4. Drive motor; 5. Transmission gear; 6. Base; 7. Cab; 8. Hydraulic breaker; 9. Monitoring camera; 10. Infrared scanner; 11. Data cable; 12. Power cable; 13. Annular slot; 14. Annular toothed plate; 15. Annular rail; 16. Caster wheel; 17. Atomizing nozzle; 18. Roller. Detailed Implementation

[0014] A method for identifying and clearing blockages in a chute screen includes the following steps: S1. Use an infrared scanner to identify and locate the three-dimensional information of the ore chute screen and ore. S2. Based on the three-dimensional information described in S1, the blockage in the ore chute is broken and cleared by the anti-blockage device.

[0015] In the preferred embodiment, the specific steps for obtaining the three-dimensional information of the ore chute screen and ore in step S1 include: S1.1. Emit infrared light into the ore pass screen area, receive the reflected light, and construct a three-dimensional model of the screen and ore based on the principle of infrared imaging. S1.2 Process the collected three-dimensional data, remove noise points through filtering algorithms, and use feature extraction algorithms to identify the grid structure, blocked grid holes, and ore-related information. S1.3 Identify areas that match the blockage characteristics using a shape matching algorithm, and determine the approximate volume of the ore based on data changes; S1.4. By determining the coordinates of the screen holes through three-dimensional scanning, the location can be accurately found when blockage occurs, which helps the ore pass anti-blockage device to operate efficiently.

[0016] In the preferred embodiment, in S1.2, the three-dimensional data processing method includes the following steps: S1.2.1. Use median filtering or Gaussian filtering algorithms to remove noise points from the collected 3D point cloud data; The median filtering involves sorting the points in the neighborhood of each point cloud data point and taking the median as the new value for that point. The Gaussian filtering method applies Gaussian weights to the points in the neighborhood of each point cloud data point and calculates a weighted average as the new value of that point. S1.2.2 Use the Canny edge detection algorithm or the Sobel operator to detect the contour of the grid sieve, calculate the gradient magnitude and direction of the point cloud data, and identify the edges of the grid sieve; S1.2.3. Use template matching or feature point matching algorithms to identify blocked areas; The template matching is a predefined standard grid hole shape template. The region in the point cloud data that is similar to the template is searched, and the matching degree is calculated. The region with the matching degree higher than the threshold is considered to be a blockage region. The feature point matching process involves extracting feature points using the SIFT or SURF algorithm, calculating the descriptors of the feature points, performing feature point matching, and using the set of successfully matched feature points as candidates for the blockage region. S1.2.4 Calculate the density of point cloud data in different regions. Point clouds with a density significantly higher than that of the background region are considered to be ore or other blockages. S1.2.5 Perform a three-dimensional scan of the grid sieve holes to obtain the coordinate information of each hole, compare the coordinate changes before and after clogging, and determine the specific location and degree of clogging; S1.2.6 Output the processed data and identification results for further operation of the ore pass anti-clogging device.

[0017] In the preferred scheme, such as Figure 1 As shown, in step S2, the ore chute anti-clogging device includes a movable bottom ring 2, a fixed bottom ring 3, and a breaker hammer 8. The fixed bottom ring 3 is installed on the outside of the chute opening 1. The movable bottom ring 2 is movably connected to the upper end face of the fixed bottom ring 3 and is coaxially arranged. A driving device is installed on the movable bottom ring 2 and drives the movable bottom ring 2 to rotate around its own axis. A base 6 is installed on the upper end face of the movable bottom ring 2. The breaker hammer 8 and the cab 7 are installed on the base 6. A dust suppression device is also installed on the movable bottom ring 2. The movable bottom ring 2 can drive the breaker 8 and the cab 7 to rotate around the chute 1 and carry out all-round crushing and cleaning work. The breaker can also apply external force vibration to the blockage point, which can effectively solve the problem of screen blockage at the chute 1.

[0018] In the preferred scheme, such as Figure 2 and Figure 3As shown, the upper end face of the fixed bottom ring 3 is provided with an annular groove 13, and the lower end face of the movable bottom ring 2 is correspondingly provided with an annular rail 15. A roller 18 is provided in the annular groove 13, and the annular rail 15 is engaged in the annular groove 13 and positioned above the roller 18. The driving device includes a drive motor 4, and an annular toothed plate 14 is provided on the inner side of the fixed bottom ring 3. The drive motor 4 is mounted on the upper end face of the movable bottom ring 2, and the transmission gear 5 on the drive motor 4 meshes with the annular toothed plate 14. When the movable bottom ring 2 needs to be rotated, the drive motor 4 starts and drives the transmission gear 5 to rotate. Since the transmission gear 5 is meshed with the annular toothed plate 14, it will drive 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 movable bottom ring 2 rotation. When the movable bottom ring 2 rotates around the fixed bottom ring 3 and its own axis, it will drive the cab 7 and the breaker hammer 8 to rotate synchronously, thereby realizing all-round crushing and cleaning work.

[0019] In the preferred scheme, such as Figure 3 As shown, an infrared scanner 10 is installed above the chute opening 1; casters 16 are installed on the bottom surface of the base 6; the infrared scanner 10 can emit infrared rays into the chute screen area, receive reflected light, and construct a three-dimensional model of the screen and ore based on the infrared imaging principle, and process the collected three-dimensional data, remove noise points through filtering algorithms, and use feature extraction algorithms to identify the relevant information of the screen structure, blocked screen holes, and ore; the casters 16 can support the rear side of the base 6 without affecting the free rotation of the base 6.

[0020] In the preferred scheme, such as Figure 4 As shown, a ring of monitoring cameras 9 are symmetrically arranged on the fixed bottom ring 3. The monitoring cameras 9 are connected in series with each other through data cable 11 and connected to an external power source through power cable 12. By setting up the ring of cameras, the real-time situation inside the chute screen can be further monitored, thereby accurately locating the blockage and cooperating with the drive device and breaker to remove it at the designated point.

[0021] Example: A method for identifying and clearing blockages in a chute screen; Step S1: Obtain three-dimensional information of the ore pass screen; S1.1 Construct a three-dimensional model of the sieve and ore; S1.1.1 Install an infrared scanner 10 above the chute opening to emit infrared rays into the chute screen area; S1.1.2, Infrared scanner 10 receives infrared light reflected from the sieve and the surface of the ore; S1.1.3 Based on the principle of infrared imaging, the infrared scanner 10 converts the received reflected light data into digital signals and constructs a three-dimensional model of the screen and ore through image processing software. S1.2: Three-dimensional data processing; S1.2.1, Denoising the data: Sort the points in the neighborhood of each point cloud data point and take the median value as the new value of that point. For each point cloud data point, apply Gaussian weights to the points in the neighborhood of the point and calculate the weighted average as the new value of that point. S1.2.2, Perform edge detection on the data: The contour of the grid sieve is detected using the Canny edge detection algorithm or the Sobel operator. The gradient magnitude and direction of the point cloud data are calculated to identify the edges of the grid sieve. S1.2.3, Feature extraction of the data: A standard grid hole shape template is predefined. Regions similar to the template are searched in the point cloud data, and the matching degree is calculated. Regions with a matching degree higher than the threshold are considered as blocked regions. Feature points are extracted using SIFT or SURF algorithms, descriptors of the feature points are calculated, feature point matching is performed, and the set of successfully matched feature points is used as a candidate for the blockage region. S1.2.4 Calculate the density of the data: The density of point cloud data in different regions is calculated. Point clouds with significantly higher density than the background region are considered to be minerals or other blockages. S1.2.5 Coordinate Determination: Perform a three-dimensional scan of the sieve holes to obtain the coordinate information of each hole, compare the coordinate changes before and after clogging, and determine the specific location and degree of clogging; S1.2.6 Output the processed data and identification results for further operation of the ore pass anti-clogging device; Step S2: Blockage breaking and unblocking operation; S2.1 Install a fixing bottom ring 3 on the outside of the well opening 1; S2.2 The upper end face of the fixed bottom ring 3 is provided with an annular groove 13, and the lower end face of the movable bottom ring 2 is provided with an annular rail 15. A roller 18 is provided in the annular groove 13, and the annular rail 15 is engaged in the annular groove 13 and positioned above the roller 18. S2.3 A drive device is installed on the movable bottom ring 2. The drive device includes a drive motor 4. An annular toothed plate 14 is provided on the inner side of the fixed bottom ring 3. The drive motor 4 is installed on the upper end face of the movable bottom ring 2. The transmission gear 5 on the drive motor 4 is meshed with the annular toothed plate 14. A base 6 is installed on the upper end face of the movable bottom ring 2. A breaker hammer 8 and a cab 7 are installed on the base 6. S2.4, drive motor 4 starts, driving transmission gear 5 to rotate. Transmission gear 5 meshes with ring tooth plate 14, driving movable bottom ring 2 to rotate around the axis of fixed bottom ring 3. The rotation of movable bottom ring 2 drives the breaker hammer 8 on base 6 and cab 7 to rotate synchronously, realizing all-round crushing and cleaning work. S2.5. Based on the blockage location identified in step S1.2, control the breaker 8 to move to the blockage area; S2.6, the breaker hammer 8 crushes the blockage and simultaneously helps to clear the screen holes through external vibration; the dust suppression device on the movable bottom ring 2 is activated to reduce the dust generated during the crushing process and protect the operating environment and the health of the operators. S2.7, the monitoring camera 9 monitors the situation inside the chute screen in real time, accurately locates the blockage point, and works with the drive device and the breaker hammer 8 to clear the blockage at the designated point.

[0022] It will be apparent 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 invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention; no reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A method for identifying and clearing blockages in a chute screen, characterized in that, Includes the following steps: S1. Use an infrared scanner to identify and locate the three-dimensional information of the ore chute screen and ore. S1.

1. Emit infrared light into the ore pass screen area, receive the reflected light, and construct a three-dimensional model of the screen and ore based on the principle of infrared imaging. S1.2 Process the collected three-dimensional data, remove noise points through filtering algorithms, and use feature extraction algorithms to identify the grid structure, blocked grid holes, and ore-related information. S1.2.

1. Use median filtering or Gaussian filtering algorithms to remove noise points from the collected 3D point cloud data; The median filtering involves sorting the points in the neighborhood of each point cloud data point and taking the median as the new value for that point. The Gaussian filtering method applies Gaussian weights to the points in the neighborhood of each point cloud data point and calculates a weighted average as the new value of that point. S1.2.2 Use the Canny edge detection algorithm or Sobel operator to detect the contour of the grid sieve, calculate the gradient magnitude and direction of the point cloud data, and identify the edge of the grid sieve; S1.2.

3. Use template matching or feature point matching algorithms to identify blocked areas; The template matching is a predefined standard grid hole shape template. The region in the point cloud data that is similar to the template is searched, and the matching degree is calculated. The region with the matching degree higher than the threshold is considered to be a blockage region. The feature point matching process involves extracting feature points using the SIFT or SURF algorithm, calculating the descriptors of the feature points, performing feature point matching, and using the set of successfully matched feature points as candidates for the blockage region. S1.2.4 Calculate the density of point cloud data in different regions. Point clouds with a density significantly higher than that of the background region are considered to be ore or other blockages. S1.2.5 Perform a three-dimensional scan of the grid sieve holes to obtain the coordinate information of each hole, compare the coordinate changes before and after clogging, and determine the specific location and degree of clogging; S1.2.6 Output the processed data and identification results for further operation of the ore pass anti-clogging device; S1.3 Identify areas that match the blockage characteristics using a shape matching algorithm, and determine the approximate volume of the ore based on data changes; S1.

4. By determining the coordinates of the screen holes through three-dimensional scanning, the location can be accurately found when blockage occurs, which helps the ore pass anti-blockage device to operate efficiently. S2. Based on the three-dimensional information described in step S1, the blockage in the ore chute is broken and cleared by the anti-blockage device.

2. The method for identifying and clearing blockages in a chute screen according to claim 1, characterized in that: In step S2, the ore chute anti-blocking device includes a movable bottom ring (2), a fixed bottom ring (3), and a breaker hammer (8). The fixed bottom ring (3) is installed on the outside of the chute opening (1). The movable bottom ring (2) is movably connected to the upper end face of the fixed bottom ring (3) and is coaxially arranged. A driving device is installed on the movable bottom ring (2) and drives the movable bottom ring (2) to rotate around its own axis. A base (6) is installed on the upper end face of the movable bottom ring (2). The breaker hammer (8) and the cab (7) are installed on the base (6). A dust suppression device is also installed on the movable bottom ring (2).

3. The method for identifying and clearing blockages in a chute screen according to claim 2, characterized in that: The upper end face of the fixed bottom ring (3) is provided with an annular groove (13), and the lower end face of the movable bottom ring (2) is provided with an annular rail (15). A roller (18) is provided in the annular groove (13), and the annular rail (15) is engaged in the annular groove (13) and positioned above the roller (18).

4. The method for identifying and clearing blockages in a chute screen according to claim 2, characterized in that: The driving device includes a drive motor (4), an annular toothed plate (14) is provided on the inner side of the fixed bottom ring (3), the drive motor (4) is installed on the upper end face of the movable bottom ring (2), and the transmission gear (5) on the drive motor (4) meshes with the annular toothed plate (14).

5. The method for identifying and clearing blockages in a chute screen according to claim 2, characterized in that: An infrared scanner (10) is installed above the chute opening (1); a caster wheel (16) is installed on the bottom surface of the base (6).

6. The method for identifying and clearing blockages in a chute screen according to claim 2, characterized in that: A series of surveillance cameras (9) are symmetrically arranged on the fixed bottom ring (3). The surveillance cameras (9) are connected in series with each other through data lines (11) and connected to an external power source through power lines (12).

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