Belt self-moving tail navigation control system based on machine vision

Abstract

The invention provides a belt self-moving tail navigation control system based on machine vision, and relates to the technical field of coal mine equipment, and the control system comprises a visual module of a data acquisition device, which is used for acquiring edge coordinate values of a plurality of carrier rollers of a belt conveyor; collecting coordinate values of at least two belt edges of the belt conveyor; the visual module is further used for uploading the coordinate values of the edge of the carrier roller and the coordinate values of the edge of the belt to the mining intrinsic safety type controller; the mining intrinsic safety type controller is used for determining posture information of the belt self-moving tail according to the edge coordinate values of the carrier rollers; the belt deviation amount of the belt conveyor is determined according to the coordinate value of the belt edge and the posture information of the belt self-moving tail; and the control device is also used for determining the action sequence and displacement of each oil cylinder of the belt self-moving tail according to the attitude information and the belt deviation amount, and controlling the action of each oil cylinder of the hydraulic execution device. According to the scheme, self-navigation walking of the belt self-moving tail can be achieved, and then the pushing efficiency of the belt self-moving tail is improved.

Description

Technical Field

[0001] The invention relates to the technical field of coal mine equipment, and in particular to a belt self-moving machine tail navigation control system based on machine vision. Background Art

[0002] The belt self-moving tail machine is mainly used in the comprehensive mining working face underground in coal mines. It is a mobile equipment used in conjunction with belt conveyors and scraper transfer machines. As the mining deepens, when the mining working face needs to advance a step, the belt self-moving tail machine drives the scraper transfer machine forward, and the transfer machine head moves synchronously on the sliding trolley of the belt self-moving tail machine. After sliding the belt self-moving tail machine to the extreme position, the belt self-moving tail machine itself needs to move forward, and its forward movement is achieved through an electro-hydraulic control system.

[0003] However, at present, the tail of the self-moving belt machine in coal mines is in the manual or semi-automatic control stage. The movement of the tail of the self-moving belt machine in the chute is a complex work process that requires tedious manual operations and coordination. It requires a series of actions such as lifting and retracting the cylinder, pushing the cylinder, moving left and right, lifting and adjusting. Professional staff need to visually inspect and manually operate multiple groups of cylinders repeatedly to achieve leveling, which greatly affects the pushing efficiency of the equipment. Summary of the invention

[0004] In view of this, in order to address the above shortcomings, it is necessary to propose a belt self-moving tail navigation control system based on machine vision to realize the self-navigation walking of the belt self-moving tail, thereby improving the pushing efficiency of the belt self-moving tail.

[0005] The present invention provides a belt self-moving tail navigation control system based on machine vision, the control system comprises: a data acquisition device, a hydraulic actuator and a mine intrinsically safe controller; the mine intrinsically safe controller is connected to the data acquisition device and the hydraulic actuator respectively through a sheath connector; The data acquisition device includes a visual module, which is used to collect the coordinate values ​​of several roller edges of the belt conveyor; and collect the coordinate values ​​of at least two belt edges of the belt conveyor; the visual module is also used to upload the collected coordinate values ​​of the several roller edges and the coordinate values ​​of at least two belt edges to the mining intrinsically safe controller; The mine intrinsically safe controller is used to determine the posture information of the belt conveyor tail according to the coordinate values ​​of the edges of the plurality of rollers; and to determine the belt deviation of the belt conveyor according to the coordinate values ​​of the at least two belt edges and the posture information of the belt conveyor tail; The mining intrinsically safe controller is also used to determine the action sequence and displacement of each cylinder at the tail of the belt self-moving machine according to the posture information and the belt deviation, and to control the action of each cylinder of the hydraulic actuator.

[0006] Preferably, the visual module includes: a roller coordinate acquisition unit and a belt coordinate acquisition unit; The roller coordinate acquisition unit is used to acquire N coordinate values ​​of the edge of the roller on the left side of the belt conveyor, and to acquire N coordinate values ​​of the edge of the roller on the right side of the belt conveyor; wherein N ≥ 2, the N coordinate values ​​on the left side and the right side are the coordinate values ​​of the edges of the N belt conveyor rollers evenly distributed along the running direction of the belt conveyor, and the coordinate acquisition points on the left side and the right side are in symmetrical positions; The belt coordinate collection unit is used to collect M coordinate values ​​of the belt edge on the same side of the belt conveyor; wherein M≥2.

[0007] Preferably, the mine intrinsically safe controller comprises: a posture information determination module; The posture information determination module is used to fit a straight line S1 according to the N coordinate values ​​of the left roller edge, and to fit a straight line S2 according to the N coordinate values ​​of the right roller edge, and to compare the angles between S1 and S2 and the central axis S3 preset by the vision module respectively to obtain the current horizontal inclination angle of the belt self-moving tail; it is also used to compare the Z-axis coordinate of any coordinate of the left and right roller edges with the Z-axis coordinate preset by the vision module to obtain the height difference information H1 of the belt self-moving tail.

[0008] Preferably, the M coordinates are the coordinate values ​​of the left belt edge of the belt conveyor; the mine intrinsically safe controller further comprises: a deviation amount determination module; The deviation amount determination module is used to fit the straight line S3 according to the M coordinate values ​​of the belt edge, and calculate the angle between the straight line S1 and the straight line S3 to obtain the current deviation angle of the belt relative to the belt conveyor; and calculate the distance L1 of the M coordinates relative to the straight line S1 to obtain the deviation amount of the belt conveyor belt.

[0009] Preferably, the mine intrinsically safe controller further comprises: a deviation correction amount determination module and a navigation control module; The deviation correction amount determination module is used to determine a deviation correction strategy to make the straight line S1 and the straight line S2 symmetrical about the straight line S3, and determine the belt deviation correction amount according to the size of L1; and determine a height adjustment strategy to reduce the height difference information H1 of the belt self-moving machine tail to 0; The navigation control module is used to control the actions of the cylinders of the hydraulic actuator in sequence according to the cylinder displacements obtained by the deviation correction strategy and the height adjustment strategy.

[0010] Preferably, the data acquisition device further includes: a flow sensor, a travel switch, a displacement sensor and an inclination sensor; The flow sensor is used to collect the oil volume data of each cylinder, the travel switch is used to monitor whether the displacement of the cylinder reaches the limit position, the displacement sensor is used to collect the displacement of each cylinder, and the inclination sensor is used to collect the inclination data of the cylinder; the flow sensor, travel switch, displacement sensor and inclination sensor all upload the collected data to the mining intrinsically safe controller.

[0011] Preferably, the hydraulic actuator includes: a head frame lifting cylinder, a push cylinder, a head left lifting cylinder, a head side shift cylinder, a head right lifting cylinder, a tail left lifting cylinder, a tail side shift cylinder and a tail right lifting cylinder, which are respectively used to control the movement of the belt to the corresponding position of the tail.

[0012] Preferably, the system also includes an explosion-proof power supply, which is connected to the mining intrinsically safe controller via a copper head connector and is used to supply power to various components.

[0013] Preferably, the system also includes a remote control platform, which is communicatively connected to the mine intrinsically safe controller and is used to monitor and display various collected data and action data of the belt self-propelled machine tail navigation control system.

[0014] Preferably, the system further comprises a wireless receiver and a wireless remote control transmitter; The wireless receiver is connected to the mine intrinsically safe controller via an 8al type connector, and the wireless remote control transmitter and the wireless receiver are wirelessly connected for issuing instructions to the mine intrinsically safe controller.

[0015] It can be seen from the above technical scheme that the machine vision-based belt self-moving tail navigation control system provided in the embodiment of the present invention includes a data acquisition device, a hydraulic actuator and a mine-used intrinsically safe controller. The visual module of the data acquisition device can collect the coordinate values ​​of the roller edges and the coordinate values ​​of the belt edges of the belt conveyor, and upload them to the mine-used intrinsically safe controller; and the mine-used intrinsically safe controller can determine the posture information of the belt self-moving tail according to the roller edge coordinate data, and determine the belt deviation of the belt conveyor in combination with the belt edge coordinate data; in this way, the mine-used intrinsically safe controller can determine the action sequence and displacement of each cylinder of the self-moving tail according to the posture information of the belt self-moving tail and the belt deviation, so as to realize the self-navigation walking of the belt self-moving tail by controlling the actions of each cylinder of the hydraulic actuator, and at the same time realize the adjustment of the posture of the belt self-moving tail and the correction of the belt deviation, and the whole process does not require too much human participation, which improves the pushing efficiency of the belt self-moving tail while ensuring the normal and stable operation of the belt self-moving tail. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of a machine vision-based belt self-moving tail navigation control system provided in an embodiment of the present invention.

[0017] Figure 2 A schematic diagram of a hydraulic actuator provided in an embodiment of the present invention.

[0018] Figure 3 A schematic diagram of a visual module provided in an embodiment of the present invention.

[0019] Figure 4 A schematic diagram of a visual module acquisition point provided by an embodiment of the present invention.

[0020] Figure 5 A schematic diagram of a mining intrinsically safe controller provided in an embodiment of the present invention.

[0021] In the figure: data acquisition device 10, visual module 11, roller coordinate acquisition unit 111, belt coordinate acquisition unit 112, flow sensor 12, travel switch 13, displacement sensor 14, inclination sensor 15, hydraulic actuator 20, head frame lifting cylinder 21, push cylinder 22, head left lifting cylinder 23, head side shift cylinder 24, head right lifting cylinder 25, tail left lifting cylinder 26, tail side shift cylinder 27, tail right lifting cylinder 28, mining intrinsically safe controller 30, posture information determination module 31, deviation amount determination module 32, correction amount determination module 33, navigation control module 34, explosion-proof power supply 40, remote control platform 50, wireless receiver 60, wireless remote control transmitter 70. DETAILED DESCRIPTION

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Since the tail of the self-moving belt machine in coal mines is currently in the manual or semi-automatic control stage, the movement of the tail of the self-moving belt machine in the chute is a complex work process that requires tedious manual operations and coordination. It requires a series of actions such as lifting the cylinder and retracting the cylinder, pushing the cylinder, moving left and right, lifting and adjusting. Professional staff need to visually inspect and manually operate multiple groups of cylinders repeatedly to achieve leveling, which greatly affects the equipment's pushing efficiency. In addition, the current electro-hydraulic control system of the self-moving belt machine tail cannot realize the belt deviation correction function, resulting in the need for staff to spend a lot of time manually disassembling and adjusting the belt when the belt conveyor deviates from the normal use trajectory. The resulting maintenance shutdown has a huge impact on the normal production of the coal mine and causes huge economic losses. At the same time, take into account the requirements of intelligent coal mines to reduce the number of people underground. Such as Figure 1As shown, the present invention considers proposing a belt self-moving machine tail navigation control system based on machine vision, and the control system includes: a data acquisition device 10, a hydraulic actuator 20 and a mine intrinsically safe controller 30; the mine intrinsically safe controller 30 is connected to the data acquisition device 10 and the hydraulic actuator 20 respectively through a sheath connector; for example, the mine intrinsically safe controller 30 and the data acquisition device 10 are connected through multiple 4d-type sheath connectors, and the mine intrinsically safe controller 30 and the hydraulic actuator 20 are connected through two 4d-type sheath connectors. Specifically, one end of one of the sheath connectors is connected to the mine intrinsically safe controller 30, and the other end is connected to one end of the mine intrinsically safe signal converter, and one end of the other sheath connector is connected to the other end of the mine intrinsically safe signal converter, and the other end is connected to the valve group driver of the hydraulic actuator 20.

[0024] The data acquisition device 10 includes a visual module 11, which is used to collect the coordinate values ​​of several roller edges of the belt conveyor; and collect the coordinate values ​​of at least two belt edges of the belt conveyor; the visual module 11 is also used to upload the collected coordinate values ​​of the several roller edges and the coordinate values ​​of at least two belt edges to the mining intrinsically safe controller 30; The mining intrinsically safe controller 30 is used to determine the posture information of the belt conveyor tail according to the coordinate values ​​of the edges of several rollers; and to determine the belt deviation of the belt conveyor according to the coordinate values ​​of at least two belt edges and the posture information of the belt conveyor tail; The mine intrinsically safe controller 30 is also used to determine the action sequence and displacement of each cylinder at the tail of the belt self-moving machine according to the posture information and the belt deviation, and to control the action of each cylinder of the hydraulic actuator 20.

[0025] In this embodiment, when the belt self-moving tail needs to move, the machine vision module 11 is used to detect the relevant data of the belt self-moving tail's own position and the belt deviation. The collected data is analyzed by the mine intrinsically safe controller through the belt self-moving tail self-navigation control algorithm and other processing methods to analyze the point coordinates, and a reasonable adjustment method is planned, and the action sequence and cylinder displacement of each cylinder of the hydraulic actuator 20 are calculated, thereby realizing the deviation correction and self-navigation functions of the belt self-moving tail.

[0026] Among them, the visual module 11 can use a smaller explosion-proof housing, which can reduce the overall volume of the visual module 11 and achieve portability.

[0027] The data acquisition device 10 may also include: a flow sensor 12, a travel switch 13, a displacement sensor 14 and an inclination sensor 15; the visual module 11, the flow sensor 12, the travel switch 13, the displacement sensor 14 and the inclination sensor 15 are all connected to the mining intrinsically safe connector through a 4d-type sheath connector.

[0028] The flow sensor 12 is used to collect the oil volume data of each cylinder, the travel switch 13 is used to monitor whether the displacement of the cylinder has reached the limit position, the displacement sensor 14 is used to collect the displacement of each cylinder, and the inclination sensor 15 is used to collect the inclination data of the cylinder; the flow sensor 12, the travel switch 13, the displacement sensor 14 and the inclination sensor 15 all upload the collected data to the mining intrinsically safe controller 30.

[0029] In one embodiment, the system may further include an explosion-proof power supply 40, which is connected to the mining intrinsically safe controller 30 via an 8a type copper connector to supply power to various components. The explosion-proof power supply 40 is used to improve the safety performance of the equipment.

[0030] In one embodiment, the system may further include a remote control platform 50, which is connected to the mine intrinsically safe controller 30 for monitoring and displaying the collected data and action data of the belt self-moving machine tail navigation control system. In this way, the operation status, collected data, and execution data of the system can be monitored and controlled through the remote control platform 50, without the need for close on-site contact by operators, thereby achieving the purpose of reducing the number of people and improving the safety of equipment operation.

[0031] In one embodiment, the system may further include a wireless receiver 60 and a wireless remote control transmitter 70; The wireless receiver 60 is connected to the mine intrinsically safe controller 30 through an 8al type connector, and the wireless remote control transmitter 70 is wirelessly connected to the wireless receiver 60 to issue instructions to the mine intrinsically safe controller 30. In this way, remote control can be performed through the remote control, which is convenient for operators to issue control instructions while the operators can also stay away from the running equipment, thereby improving the safety of the operators.

[0032] like Figure 2 As shown, the hydraulic actuator 20 may specifically include: a head frame lifting cylinder 21, a push cylinder 22, a head left lifting cylinder 23, a head side shift cylinder 24, a head right lifting cylinder 25, a tail left lifting cylinder 26, a tail side shift cylinder 27 and a tail right lifting cylinder 28, which are respectively used to control the movement of the belt to the corresponding position of the tail.

[0033] For the visual module 11, Figure 3 As shown, it may specifically include: a roller coordinate acquisition unit 111 and a belt coordinate acquisition unit 112; The roller coordinate acquisition unit 111 is used to acquire N coordinate values ​​of the edge of the roller on the left side of the belt conveyor, and to acquire N coordinate values ​​of the edge of the roller on the right side of the belt conveyor; wherein N ≥ 2, the N coordinate values ​​on the left side and the right side are the coordinate values ​​of the edges of the N belt conveyor rollers evenly distributed along the running direction of the belt conveyor, and the coordinate acquisition points on the left side and the right side are in symmetrical positions; The belt coordinate collection unit 112 is used to collect M coordinate values ​​of the belt edge on the same side of the belt conveyor; wherein M≥2.

[0034] In this embodiment, the coordinate positions collected by the roller coordinate collection unit 111 and the belt coordinate collection unit 112 are as follows: Figure 4 As shown. Taking N as 3 and M as 2 as an example, the coordinate values ​​of the roller edge on the left side of the belt conveyor are C1, C2, C3, the coordinate values ​​of the roller edge on the right side of the belt conveyor are c1, c2, c3, and the coordinate values ​​of the belt edge are D1 and D2.

[0035] Further, if Figure 5 As shown, the mine intrinsically safe controller 30 may include: a posture information determination module 31; The posture information determination module 31 is used to fit the straight line S1 according to the N coordinate values ​​of the left roller edge, and to fit the straight line S2 according to the N coordinate values ​​of the right roller edge, and to compare the angles between S1 and S2 and the central axis S3 preset by the visual module 11, respectively, to obtain the current horizontal inclination angle of the belt self-moving machine tail; and is also used to compare the Z-axis coordinate of any coordinate of the left and right roller edges with the Z-axis coordinate preset by the visual module 11, to obtain the height difference information H1 of the belt self-moving machine tail, that is, to obtain its own posture information. The detection algorithm used to determine the posture of the belt self-moving machine tail itself can be stored in the mining intrinsically safe controller 30 through a computer-readable medium.

[0036] In one embodiment, the M coordinates are the coordinate values ​​of the belt edge on the left side of the belt conveyor. Of course, in some embodiments, the M coordinates can also be the coordinate values ​​of the belt edge on the right side of the belt conveyor. When it is the right side, the angle between S2 and S3 should be calculated below. Taking the left side as an example, the mine intrinsically safe controller 30 can also include: a deviation amount determination module 32; The deviation determination module 32 is used to fit the straight line S3 according to the M coordinate values ​​of the belt edge, and calculate the angle between the straight line S1 and the straight line S3 to obtain the current deviation angle of the belt relative to the belt conveyor; and calculate the distance L1 of the M coordinates relative to the straight line S1 to obtain the deviation of the belt conveyor. In this way, the belt deviation situation can be analyzed through the belt conveyor belt deviation algorithm, and the algorithm for determining the belt deviation can be stored in the mining intrinsically safe controller 30 through a computer-readable storage medium.

[0037] In one embodiment, the mine intrinsically safe controller 30 may further include: a deviation correction amount determination module 33 and a navigation control module 34; The deviation correction amount determination module 33 is used to determine a deviation correction strategy to make the straight line S1 and the straight line S2 symmetrical about the straight line S3, and determine the belt deviation correction amount according to the size of L1; and determine a height adjustment strategy to reduce the height difference information H1 of the belt self-moving machine tail to 0; The navigation control module 34 is used to sequentially control the actions of the cylinders of the hydraulic actuator 20 according to the cylinder displacements obtained by the deviation correction strategy and the height adjustment strategy.

[0038] In this embodiment, the self-navigation control algorithm of the belt self-moving machine tail is used to plan the walking route, the cylinder action sequence and displacement, etc., in combination with the self-position of the belt self-moving machine tail and the deviation of the belt conveyor belt. For example, the self-position of the belt self-moving machine tail is corrected first, so that S3 is exactly the symmetry axis of S1 and S2, the deflection is corrected, and at the same time, different degrees of lateral deviation are performed according to the size of L1 to achieve deviation correction; then the height of the belt self-moving machine tail is made equal to the preset height, and the height is adjusted according to the height difference; then, the displacement obtained according to the walking instruction is used to drive the cylinder in sequence to realize the forward movement of the belt self-moving machine tail. The self-navigation control algorithm of the belt self-moving machine tail can be stored in the mining intrinsically safe controller 30 through a computer-readable storage medium.

[0039] When the system is working, when the mine intrinsically safe controller 30 of the belt self-moving machine tail receives the remote push command, the visual module 11 in the data acquisition device 10 collects the posture coordinate values ​​of the belt self-moving machine tail, that is, the coordinate values ​​of the roller edge on the left side of the belt conveyor are C1, C2, C3, and the coordinate values ​​of the roller edge on the right side of the belt conveyor are c1, c2, c3, and the coordinate values ​​of the belt conveyor deviation are collected, that is, the coordinate values ​​of the belt edge are D1, D2. The belt posture detection algorithm, belt deviation algorithm and self-navigation control algorithm of the belt self-moving machine tail stored in the mine intrinsically safe controller 30 are analyzed and planned to determine the execution order of each cylinder of the hydraulic actuator 20 and the action amount of each cylinder. The feedback of the action amount is executed through the travel switch 13, the displacement sensor 14, the inclination sensor 15, etc. After the push is completed, the mine intrinsically safe controller 30 sends a push completion signal to the remote control platform 50.

[0040] In summary, the machine vision-based belt self-moving tail navigation control system provided by this solution has at least the following beneficial effects: (1) The edge positions of the rollers on both sides of the belt conveyor are obtained through the visual module, and the posture recognition of the belt conveyor tail during its walking process can be realized by combining the center line of the belt conveyor; (2) The deviation of the belt conveyor belt can be determined by obtaining the coordinate points of the proximal belt edge and the roller on one side of the belt conveyor, as well as the coordinate points of the distal belt edge and the roller through the visual module; (3) The belt conveyor tail's own posture data and belt deviation data collected by the vision module can be used to plan the walking route, determine the cylinder movement amount and movement sequence, and thus realize the self-navigation walking of the belt self-moving tail; (4) The navigation control system of the belt-driven self-propelled machine tail has a compact structure and is easy to maintain. It uses machine vision to replace the underground operators of the belt-driven self-propelled machine tail, ensuring safety while improving work efficiency.

[0041] The modules or units in the device of the embodiment of the present invention can be combined, divided and deleted according to actual needs. The above disclosure is only the preferred embodiment of the present invention, and of course it cannot be used to limit the scope of the rights of the present invention. Those skilled in the art can understand that all or part of the processes of the above embodiment are implemented, and the equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A belt self-moving tail navigation control system based on machine vision, characterized in that: The control system comprises: a data acquisition device, a hydraulic actuator and a mining intrinsically safe controller; the mining intrinsically safe controller is connected to the data acquisition device and the hydraulic actuator respectively through a sheath connector; The data acquisition device includes a visual module, which is used to collect the coordinate values ​​of several roller edges of the belt conveyor; and collect the coordinate values ​​of at least two belt edges of the belt conveyor; the visual module is also used to upload the collected coordinate values ​​of the several roller edges and the coordinate values ​​of at least two belt edges to the mining intrinsically safe controller; The mine intrinsically safe controller is used to determine the posture information of the belt conveyor tail according to the coordinate values ​​of the edges of the plurality of rollers; and to determine the belt deviation of the belt conveyor according to the coordinate values ​​of the at least two belt edges and the posture information of the belt conveyor tail; The mining intrinsically safe controller is also used to determine the action sequence and displacement of each cylinder at the tail of the belt self-moving machine according to the posture information and the belt deviation, and to control the action of each cylinder of the hydraulic actuator.

2. The machine vision-based belt self-moving tail navigation control system according to claim 1 is characterized in that: The visual module includes: a roller coordinate acquisition unit and a belt coordinate acquisition unit; The roller coordinate acquisition unit is used to acquire N coordinate values ​​of the edge of the roller on the left side of the belt conveyor, and to acquire N coordinate values ​​of the edge of the roller on the right side of the belt conveyor; wherein N ≥ 2, the N coordinate values ​​on the left side and the right side are the coordinate values ​​of the edges of the N belt conveyor rollers evenly distributed along the running direction of the belt conveyor, and the coordinate acquisition points on the left side and the right side are in symmetrical positions; The belt coordinate collection unit is used to collect M coordinate values ​​of the belt edge on the same side of the belt conveyor; wherein M≥2.

3. The machine vision-based belt self-moving tail navigation control system according to claim 2 is characterized in that: The mine intrinsically safe controller comprises: a posture information determination module; The posture information determination module is used to fit a straight line S1 according to the N coordinate values ​​of the left roller edge, and to fit a straight line S2 according to the N coordinate values ​​of the right roller edge, and to compare the angles between S1 and S2 and the central axis S3 preset by the vision module respectively to obtain the current horizontal inclination angle of the belt self-moving tail; it is also used to compare the Z-axis coordinate of any coordinate of the left and right roller edges with the Z-axis coordinate preset by the vision module to obtain the height difference information H1 of the belt self-moving tail.

4. The machine vision-based belt self-moving tail navigation control system according to claim 3 is characterized in that: The M coordinates are the coordinate values ​​of the left belt edge of the belt conveyor; the mine intrinsically safe controller also includes: a deviation determination module; The deviation amount determination module is used to fit the straight line S3 according to the M coordinate values ​​of the belt edge, and calculate the angle between the straight line S1 and the straight line S3 to obtain the current deviation angle of the belt relative to the belt conveyor; and calculate the distance L1 of the M coordinates relative to the straight line S1 to obtain the deviation amount of the belt conveyor belt.

5. The machine vision-based belt self-moving tail navigation control system according to claim 4 is characterized in that: The mine intrinsically safe controller also includes: a deviation correction amount determination module and a navigation control module; The deviation correction amount determination module is used to determine a deviation correction strategy to make the straight line S1 and the straight line S2 symmetrical about the straight line S3, and determine the belt deviation correction amount according to the size of L1; and determine a height adjustment strategy to reduce the height difference information H1 of the belt self-moving machine tail to 0; The navigation control module is used to control the actions of the cylinders of the hydraulic actuator in sequence according to the cylinder displacements obtained by the deviation correction strategy and the height adjustment strategy.

6. The machine vision-based belt self-moving tail navigation control system according to claim 1 is characterized in that: The data acquisition device also includes: a flow sensor, a travel switch, a displacement sensor and an inclination sensor; The flow sensor is used to collect the oil volume data of each cylinder, the travel switch is used to monitor whether the displacement of the cylinder reaches the limit position, the displacement sensor is used to collect the displacement of each cylinder, and the inclination sensor is used to collect the inclination data of the cylinder; the flow sensor, travel switch, displacement sensor and inclination sensor all upload the collected data to the mining intrinsically safe controller.

7. The machine vision-based belt self-moving tail navigation control system according to claim 1 is characterized in that: The hydraulic actuator includes: a head frame lifting cylinder, a push cylinder, a head left lifting cylinder, a head side shift cylinder, a head right lifting cylinder, a tail left lifting cylinder, a tail side shift cylinder and a tail right lifting cylinder, which are respectively used to control the movement of the belt to move the corresponding position of the tail.

8. The machine vision-based belt self-moving tail navigation control system according to claim 1 is characterized in that: The system also includes an explosion-proof power supply, which is connected to the mining intrinsically safe controller through a copper head connector and is used to supply power to various components.

9. The machine vision-based belt self-moving tail navigation control system according to claim 1 is characterized in that: The system also includes a remote control platform, which is communicatively connected to the mine intrinsically safe controller and is used to monitor and display various collected data and action data of the belt self-propelled machine tail navigation control system.

10. The machine vision-based belt self-moving tail navigation control system according to claim 1, characterized in that: The system also includes a wireless receiver and a wireless remote control transmitter; The wireless receiver is connected to the mine intrinsically safe controller via an 8al type connector, and the wireless remote control transmitter and the wireless receiver are wirelessly connected for issuing instructions to the mine intrinsically safe controller.

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