Mine car loading fullness inspection method, system, equipment and medium

Abstract

The invention discloses a mine car loading fullness inspection method, system, equipment and medium, and relates to the technical field of mine loading detection, and the mine car loading fullness inspection method comprises the following steps: detecting a mine car compartment to obtain an in-place signal of the mine car compartment; after an in-place signal is obtained, ore loading is carried out on the mine car compartment, a multi-line laser radar is adopted to detect the mine car compartment in real time, detection coordinates of the front edge and the rear edge of the mine car compartment in the x-axis direction are obtained, the detection coordinates are compared with set coordinates, and front edge deviation and rear edge deviation of the mine car compartment are obtained; the actual coordinate of each material level detection curved surface is obtained through the difference between each material level detection curved surface and the front edge offset and the difference between each material level detection curved surface and the rear edge offset; and the laser ratio of each material level detection curved surface is obtained through the ratio of the actual coordinate of each material level detection curved surface to the set coordinate, and a full-up signal is output when the laser ratio exceeds a threshold value. The method can be put into use after parameters are set according to field installation in a short time, and the application is relatively stable and reliable compared with AI.

Description

Technical Field

[0001] The present invention relates to the field of ore loading detection technology, and in particular to a method, system, equipment and medium for checking the fullness of a mine car. Background Art

[0002] In recent years, the application of mining robots has been vigorously promoted, and the automation of rail locomotive transportation is an important manifestation of the application of mining robots. The automated loading of rail locomotives, as an important part of rail automated transportation, is a core link in realizing automated unmanned transportation.

[0003] As rail locomotive transportation routes and loading points are relatively fixed, it is relatively easy to operate rail locomotives remotely and automatically. However, in terms of loading, most domestic mines are in the process of remote positioning and manual ore loading, and few have realized automatic ore loading functions.

[0004] Because there is a lot of dust when mining underground, and it is often accompanied by harmful gases in the ore body, which is very harmful to the human body and often causes occupational diseases to the miners, it is urgent to eliminate the miners and realize unmanned operation. For the use of AI video detection, because AI videos are judged by the edge of the picture, and a large number of image resources are required for learning and annotation, each site and different loading stations of the mine automatic loading need to be put into use immediately, which is difficult to meet the long-term and large amount of time for AI learning, so the application of AI video detection in mine car loading is not very ideal. Summary of the invention

[0005] The purpose of the present invention is to address the deficiencies of the above-mentioned prior art and to provide a method, system, equipment and medium for checking the fullness of a mine car load, so as to solve the problem that each site and different loading stations of automatic mine loading in the prior art need to be put into use immediately, and it is difficult to meet the long-term and large amount of time required for AI learning, so the application of AI video detection in mine car loading is not very ideal.

[0006] The present invention specifically provides the following technical solutions:

[0007] A method for checking whether a mine car is full of material, comprising the following steps:

[0008] Detect the mine car compartment and obtain the arrival signal of the mine car compartment;

[0009] After obtaining the arrival signal, the mine car compartment is loaded with ore, and the multi-line laser radar is used to perform real-time detection of the mine car compartment, and the detection coordinates of the front edge and the rear edge of the mine car compartment in the x-axis direction are obtained, and the detection coordinates are compared with the set coordinates of the mine car compartment to obtain the front edge offset and the rear edge offset of the mine car compartment, and the actual coordinates of each material level detection surface are obtained by the difference between each material level detection surface and the front edge offset and the rear edge offset;

[0010] The laser proportion of each material level detection surface is obtained by the ratio of the actual coordinates of each material level detection surface to the set coordinates of the material level detection surface, and when the laser proportions of multiple material level detection surfaces exceed a threshold, a full signal is output.

[0011] Preferably, the detecting of the mine car compartment to obtain the arrival signal of the mine car compartment includes:

[0012] The multiple areas of the mine car compartment are detected by a multi-line laser radar to obtain coordinate signals of the multiple areas; wherein the coordinates and length, width and height of the vertices are set in each area, and the x coordinate of each area is obtained by the sum of the set x coordinate and the offset;

[0013] When the conditions are met in each area, the mine car carriage arrival signal is output; the specific expression of the mine car carriage arrival signal is:

[0014] Cn=[ <y n1>(Area 1 has a laser dot)]&[ <y n2>(Area 2 has a laser dot)]&[ <y n3>(Area 3 has a laser dot)]&[ <y n4>(Area 4 has a laser dot)&...&[ <y nn>(area n has laser point)];

[0015] Among them, Y / N is the AND / NOT relationship between this area and other areas, Y is the AND relationship, N is the NOT relationship, 1, 2, 3, 4 and n are area 1, area 2, area 3, area 4 and area n respectively, and Cn is the arrival signal of the mine car compartment in n areas.

[0016] Preferably, each material level detection curved surface comprises:

[0017] A plurality of material level detection surfaces are arranged in the mine car compartment, wherein the two material level detection surfaces on the left and right sides are curled surfaces arranged in opposite directions; coordinates and shape parameters of the plurality of material level detection surfaces are set, wherein the shape parameters include width W, P, height H and angle Angle.

[0018] Preferably, comparing the detected coordinates with the set coordinates of the mine car compartment to obtain the front edge offset and the rear edge offset of the mine car compartment comprises:

[0019] Get the front and rear edge offsets of the mine car. The specific expressions are:

[0020] XF1 = F1 - FF1;

[0021] XF2 = F2 - FF2;

[0022] Among them, XF1 is the front edge offset, XF2 is the rear edge offset, F1 and F2 are the set coordinates of the front and rear edge X-coordinate positions, and FF1 and FF2 are the detected coordinates of the front and rear edge X-coordinate positions.

[0023] Preferably, obtaining the actual coordinates of each material level detection curved surface by the difference between each material level detection curved surface and the front edge offset and the rear edge offset comprises:

[0024] When the first half of the loading is effective, the actual coordinates of each material level detection surface are: XXn = Xn-XF1;

[0025] When the second half of the ore loading is effective, the actual coordinates of each material level detection surface are: XXn=Xn-XF2.

[0026] The present invention provides a mine car loading inspection system, comprising:

[0027] A detection module is used to detect the mine car compartment and obtain a signal indicating that the mine car compartment has arrived;

[0028] A coordinate processing module is used to load the mine car compartment with ore after obtaining the arrival signal, and use a multi-line laser radar to perform real-time detection of the mine car compartment, obtain the detection coordinates of the front edge and the rear edge of the mine car compartment in the x-axis direction, and compare the detection coordinates with the set coordinates of the mine car compartment to obtain the front edge offset and the rear edge offset of the mine car compartment, and obtain the actual coordinates of each material level detection surface through the difference between each material level detection surface and the front edge offset and the rear edge offset;

[0029] The output module is used to obtain the laser proportion of each material level detection surface through the ratio of the actual coordinates of each material level detection surface to the set coordinates of the material level detection surface, and output a full signal when the laser proportions of multiple material level detection surfaces exceed a threshold.

[0030] The present invention provides a computer device, comprising a memory and a processor, wherein a program is stored in the memory, and when the program is executed by the processor, the processor executes the steps of the above-mentioned method for checking the fullness of a mine car loading.

[0031] The present invention provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned method for checking the fullness of a mine car are realized.

[0032] Compared with the prior art, the present invention has the following significant advantages:

[0033] The present invention adopts a laser radar detection method. After the mine car compartment is in place, the actual coordinates of multiple material level detection surfaces in the mine car compartment are detected and acquired through the set parameters. When the total laser of the multiple material level detection surfaces reaches the occupancy rate, a full signal is output. It can be put into use in a short time according to the on-site installation setting parameters, and the application is relatively stable and reliable compared to AI. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is an overall flow chart of a method for checking the fullness of a mine car loading according to the present invention;

[0035] Figure 2 4 area diagrams for positioning the locomotive in the present invention;

[0036] Figure 3 It is a schematic diagram of the orientation of the material level detection surface in the present invention;

[0037] Figure 4 This is a mine car arrival detection diagram in the present invention;

[0038] Figure 5 This is a detection diagram of a mine car being fully loaded in the present invention. DETAILED DESCRIPTION

[0039] The following is a clear and complete description of the technical solutions of the embodiments of the present invention in conjunction with the drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0040] like Figure 1 As shown, the present invention provides a method for checking the fullness of a mine car, which specifically includes the following steps:

[0041] Step S1: Detect the mine car compartment and obtain the arrival signal of the mine car compartment.

[0042] Regional positioning:

[0043] The multi-line laser radar is used to detect multiple areas of the mine car compartment to obtain coordinate signals of multiple areas; the coordinates and length, width and height of the vertices are set in each area, and the x coordinate of each area is obtained by setting the sum of the x coordinate and the offset; the multi-line laser radar here is a 16-line laser radar, which can perform at least 4 sets of locomotive position (C1, C2, C3, C4) setting judgments.

[0044] When the conditions are met in each area, the mine car carriage arrival signal is output; the specific expression of the mine car carriage arrival signal is:

[0045] Cn=[ <y n1>(Area 1 has a laser dot)]&[ <y n2>(Area 2 has a laser dot)]&[ <y n3>(Area 3 has a laser dot)]&[ <y n4>(Area 4 has a laser dot)&...&[ <y nn>(area n has laser point)];

[0046] Among them, Y / N is the AND / NOT relationship between this area and other areas, Y is the AND relationship, N is the NOT relationship, 1, 2, 3, 4 and n are area 1, area 2, area 3, area 4 and area n respectively, and Cn is the arrival signal of the mine car compartment in n areas.

[0047] like Figure 2 As shown, the following is the parameter setting of one of the 16 lines. Each position judgment group consists of 4 3D space areas (left area 1, car area 2, car area 3, right area 4), all of which are composed of rectangular blocks as follows:

[0048] ① Set the vertex XYZ coordinates and length, width and height of area 1 on the left (X1, Y1, Z1, XL1, YW1, ZH1, Y / N1).

[0049] Y / N1 is the AND / NOT relationship between this area and other areas. Y is the AND relationship, and N is the NOT relationship.

[0050] Display the actual X-coordinate offset (XX1) in real time. XX1 is sent in by the external PLC.

[0051] The actual X coordinate of the left area = the set X1 coordinate + the offset XX1. (The offset XX1 is the same for other areas in each group of position judgment)

[0052] ② XY coordinates and length and width settings of carriage area 2 (X2, Y2, Z2, XL2, YW2, ZH2, Y / N2).

[0053] Y / N2 is the same as above. Offset (XX2), where XX2=XX1.

[0054] ③ XY coordinates and length and width settings of carriage area 3 ((X3, Y3, Z3, XL3, YW3, ZH3, Y / N3).

[0055] Y / N3 is the same as above. Offset (XX3), where XX3=XX1.

[0056] ④ XY coordinates and length and width settings of area 4 on the right (X4, Y4, Z4, XL4, YW4, ZH4, Y / N4).

[0057] Y / N4 is the same as above. Offset (XX4), where XX4=XX1.

[0058] When the conditions are met in areas 1, 2, 3, and 4, the locomotive arrival signal (C1) is output. The locomotive arrival signal C1 = [ <y n1>(Area 1 has a laser dot)]&[ <y n2>(Area 2 has a laser dot)]&[ <y n3>(Area 3 has a laser dot)]&[ <y n4>(Area 4 has a laser spot)].

[0059] Similarly: Locomotive arrival signal C2 = [ <y n1>(Area 1 has a laser dot)]&[ <y n2>(Area 2 has a laser dot)]&[ <y n3>(Area 3 has a laser dot)]&[ <y n4>(Area 4 has a laser spot)]. Among them, Y / N, area 1, area 2, area 3, area 4, and XX1 all belong to independent areas with the first set of position information.

[0060] The same applies to C3 and C4.

[0061] Step S2: After obtaining the arrival signal, the mine car is loaded with ore, and a multi-line laser radar is used to perform real-time detection of the mine car, and the detection coordinates of the front and rear edges of the mine car in the x-axis direction are obtained. The detection coordinates are compared with the set coordinates of the mine car to obtain the front edge offset and rear edge offset of the mine car, and the actual coordinates of each material level detection surface are obtained by the difference between each material level detection surface and the front edge offset and the rear edge offset.

[0062] Locomotive full detection:

[0063] Radar 16-line and single-line radar can set 2 groups of full detection (B1, B2) to set judgment. Each group of laser locomotive loading detection function can be set to disable (check setting). The following are its parameter settings. Each group of material level detection consists of three 3 sides (such as Figure 3 As shown), the first surface is a configurable curled surface D1, the second surface is a configurable curved surface D2, and the third surface is a curled surface D3 that can be set in the opposite direction to the first surface, as shown in FIG. Figure 3 shown.

[0064] Multiple material level detection surfaces are set in the mine car compartment, where the two material level detection surfaces on the left and right sides are curled surfaces set in opposite directions; coordinates and shape parameters of multiple material level detection surfaces are set, where the shape parameters include width W, P, height H and angle Angle; the following describes the situation of radar 16 lines:

[0065] ① Set XYZ coordinates and shape parameters of surface 1 (X1, Y1, Z1, W1, P1, H1, Angle1).

[0066] ②Set XYZ coordinates and shape parameters of surface 2 (X2, Y2, Z2, W2, P2, H2, Angle2).

[0067] ③Set XYZ coordinates and shape parameters of surface 3 (X3, Y3, Z3, W3, P3, H3, Angle3).

[0068] ④ The total laser passing rate of surfaces 1, 2, and 3 (Rate).

[0069] ⑤ The front and rear edge X coordinate position parameter setting values ​​(F1, F2) are based on the edge position of the locomotive.

[0070] Among the three surfaces, surface 1 and surface 3 are quarter-circle curved surfaces facing left and right respectively, and surface 2 is a 1 / 2 arc with its mouth facing downward. All three surfaces can be stretched according to parameter settings.

[0071] The validity of the three lines D1, D2, and D3 is controlled by the PLC parameter settings. When any of the groups is selected as valid (D1 / D2 / D3 is 1), it participates in the proportion calculation; when it is invalid, it does not participate in the proportion calculation. It is also not displayed.

[0072] When the locomotive stops at the designated position, the software determines and calculates the actual coordinate positions of the front and rear edges in the X-axis direction (FF1, FF2). The front and rear edge offsets of the mine car are obtained, and the specific expressions are:

[0073] XF1 = F1 - FF1;

[0074] XF2 = F2 - FF2;

[0075] Among them, XF1 is the front edge offset, XF2 is the rear edge offset, F1 and F2 are the set coordinates of the front and rear edge X-coordinate positions, and FF1 and FF2 are the detection coordinates of the front and rear edge X-coordinate positions;

[0076] The actual coordinates of each material level detection surface are obtained by the difference between each material level detection surface and the front edge offset and the rear edge offset, including:

[0077] When the first half of the loading is effective, the actual coordinates of each material level detection surface are: XXn = Xn-XF1. Among them, the actual X-axis values ​​of the three surfaces are: XX1 = X1-XF1, XX2 = X2-XF1 and XX3 = X3-XF1.

[0078] When the second half of the loading is effective, the actual coordinates of each material level detection surface are: XXn = Xn-XF2. Among them, the actual X-axis values ​​of the three surfaces are: XX1 = X1-XF2, XX2 = X2-XF2 and XX3 = X3-XF2.

[0079] When both the first half and the second half are invalid (E1=0, E2=0), XX1=X1, XX2=X2 and XX3=X3.

[0080] Step S3: Obtain the laser ratio of each material level detection surface by the ratio of the actual coordinates of each material level detection surface to the set coordinates of the material level detection surface, and output a full signal (B11) when the laser ratios of multiple material level detection surfaces exceed a threshold.

[0081] The method further comprises:

[0082] like Figure 4 As shown in the figure, when the locomotive carriage is in place, the feeder is started to load the ore. At this time, laser radar is needed to detect the loading material level in real time, and a single-line laser radar is used to detect the ore carriage in real time, specifically:

[0083] Set an envelope line constructed by three arcs, where the envelope line is used as the limit value for the laser radar to detect fullness, and output a fullness signal when the ore pile exceeds the envelope line and the excess rate is greater than the set value. The width, height, XY coordinates and passing ratio of the envelope line can all be set. Figure 5 shown.

[0084] The final full signal is obtained by performing a logical AND operation on the full signal output by the multi-line laser radar and the full signal output by the single-line laser radar. B1 = (B11) || (B12), where B12 is the full signal of the single-line radar (the single-line radar is composed of 3 curves). Similarly, B2 is the full signal.

[0085] Based on the above method, the present invention provides a mine car filling inspection system, including: a detection module, a coordinate processing module and an output module.

[0086] Among them, the detection module is used to detect the mine car compartment and obtain the arrival signal of the mine car compartment; the coordinate processing module is used to load the mine car compartment with ore after obtaining the arrival signal, and use a multi-line laser radar to perform real-time detection of the mine car compartment, obtain the detection coordinates of the front edge and the rear edge of the mine car compartment in the x-axis direction, and compare the detection coordinates with the set coordinates of the mine car compartment to obtain the front edge offset and the rear edge offset of the mine car compartment, and obtain the actual coordinates of each material level detection surface through the difference between each material level detection surface and the front edge offset and the rear edge offset; the output module is used to obtain the laser share of each material level detection surface through the ratio of the actual coordinates of each material level detection surface to the set coordinates of the material level detection surface, and output a full signal when the laser share of multiple material level detection surfaces exceeds the threshold.

[0087] The present invention also provides a computer device, including a memory and a processor. The memory stores a program. When the program is executed by the processor, the processor executes the steps of a method for checking the fullness of a mine car.

[0088] In accordance with the disclosed embodiments, a computing device may communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth communications, etc.), or with any device (e.g., routers, modems, etc.) that enables a computing device to communicate with one or more other computing devices.

[0089] The present invention also provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of a method for checking the fullness of a mine car are implemented.

[0090] According to the disclosed embodiments, the storage medium may be a non-volatile computer-readable storage medium, such as but not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, the storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0091] The above content is a further detailed description of the present invention in combination with a specific preferred embodiment. For technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as belonging to the protection scope of the present invention.< / y> < / y> < / y> < / y> < / y> < / y> < / y> < / y> < / y> < / y> < / y> < / y> < / y> < / y> < / y> < / y> < / y> < / y>

Claims

1. A method for checking the fullness of a mine car, characterized in that: include: Detect the mine car compartment and obtain the arrival signal of the mine car compartment; After obtaining the arrival signal, the mine car is loaded with ore, and a multi-line laser radar is used to perform real-time detection on the mine car, and the detection coordinates of the front edge and the rear edge of the mine car in the x-axis direction are obtained, and the detection coordinates are compared with the set coordinates of the mine car to obtain the front edge offset and the rear edge offset of the mine car, and the actual coordinates of each material level detection surface are obtained by the difference between each material level detection surface and the front edge offset and the rear edge offset; The laser proportion of each material level detection surface is obtained by the ratio of the actual coordinates of each material level detection surface to the set coordinates of the material level detection surface, and when the laser proportions of multiple material level detection surfaces exceed a threshold, a full signal is output.

2. A method for checking the fullness of a mine car as claimed in claim 1, characterized in that: The detecting of the mine car compartment to obtain the arrival signal of the mine car compartment includes: The multiple areas of the mine car compartment are detected by a multi-line laser radar to obtain coordinate signals of the multiple areas; wherein the coordinates and length, width and height of the vertices are set in each area, and the x coordinate of each area is obtained by the sum of the set x coordinate and the offset; When the conditions are met in each area, the mine car carriage arrival signal is output; the specific expression of the mine car carriage arrival signal is: Cn=[ <y n1>(Area 1 has a laser dot)]&[ <y n2>(Area 2 has a laser dot)]&[ <y n3>(Area 3 has a laser dot)]&[ <y n4>(Area 4 has a laser dot)&...&[ <y nn> (area n has laser point)];< / y> < / y> < / y> < / y> < / y> Among them, Y / N is the AND / NOT relationship between this area and other areas, Y is the AND relationship, N is the NOT relationship, 1, 2, 3, 4 and n are area 1, area 2, area 3, area 4 and area n respectively, and Cn is the arrival signal of the mine car compartment in n areas.

3. A method for checking the fullness of a mine car as claimed in claim 1, characterized in that: Each material level detection curved surface includes: A plurality of material level detection surfaces are arranged in the mine car compartment, wherein the two material level detection surfaces on the left and right sides are curled surfaces arranged in opposite directions; coordinates and shape parameters of the plurality of material level detection surfaces are set, wherein the shape parameters include width W, P, height H and angle Angle.

4. A method for checking the fullness of a mine car as claimed in claim 1, characterized in that: Comparing the detected coordinates with the set coordinates of the mine car compartment to obtain the front edge offset and the rear edge offset of the mine car compartment includes: Get the front and rear edge offsets of the mine car. The specific expressions are: XF1 = F1 - FF1; XF2 = F2 - FF2; Among them, XF1 is the front edge offset, XF2 is the rear edge offset, F1 and F2 are the set coordinates of the front and rear edge X-coordinate positions, and FF1 and FF2 are the detected coordinates of the front and rear edge X-coordinate positions.

5. A method for checking the fullness of a mine car as claimed in claim 4, characterized in that: The actual coordinates of each material level detection curved surface are obtained by the difference between each material level detection curved surface and the front edge offset and the rear edge offset, including: When the first half of the loading is effective, the actual coordinates of each material level detection surface are: XXn = Xn-XF1; When the second half of the ore loading is effective, the actual coordinates of each material level detection surface are: XXn=Xn-XF2.

6. A mine car loading inspection system, characterized in that: include: A detection module is used to detect the mine car compartment and obtain a signal indicating that the mine car compartment has arrived; A coordinate processing module is used to load the mine car compartment with ore after obtaining the arrival signal, and use a multi-line laser radar to perform real-time detection of the mine car compartment, obtain the detection coordinates of the front edge and the rear edge of the mine car compartment in the x-axis direction, and compare the detection coordinates with the set coordinates of the mine car compartment to obtain the front edge offset and the rear edge offset of the mine car compartment, and obtain the actual coordinates of each material level detection surface through the difference between each material level detection surface and the front edge offset and the rear edge offset; The output module is used to obtain the laser proportion of each material level detection surface through the ratio of the actual coordinates of each material level detection surface to the set coordinates of the material level detection surface, and output a full signal when the laser proportions of multiple material level detection surfaces exceed a threshold.

7. A computer device, characterized in that: It comprises a memory and a processor, wherein a program is stored in the memory, and when the program is executed by the processor, the processor executes the steps of a method for checking the fullness of a mine car as claimed in any one of claims 1 to 5.

8. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of a method for checking the fullness of a mine car load according to any one of claims 1 to 5 are implemented.

Images