Intelligent control system for mine transportation

Abstract

The invention relates to the technical field of conveying control, and discloses a mine transportation intelligent control system, which comprises a conveying module and a data transmission network, and is characterized in that the working state of the conveying module is acquired by a conveying state monitoring module; collected information of the conveying state monitoring module is transmitted to the ground monitoring and control module on the ground through a data transmission network for data analysis and storage, and feedback control is carried out on the conveying module. The conveyor belt overview image acquisition module is used for acquiring images to provide an accurate direction for the self-propelled zoom acquisition module for fixed-point acquisition, and sound acquisition, sound source positioning and image positioning are combined, so that the hiding problem which cannot be reflected in the images can be found more easily, and the system adopts fewer lenses to achieve the purpose of more comprehensive conveyor belt monitoring. Large-scale conveying system monitoring is achieved in the mode that the conveying belt is adjusted, shut down and alarmed in time, and abnormal points are accurately positioned and reported by maintenance personnel.

Description

Technical Field

[0001] The invention relates to the technical field of transportation control, in particular to an intelligent control system for mine transportation. Background Art

[0002] The underground transportation system is large and complex. Materials are transported from underground to the ground through conveyor belts, which are connected in series. Therefore, when one of the conveyor belts has a problem, if it is not discovered in time, it will cause material accumulation and fall, affecting the stability of subsequent conveyor belts and is not conducive to continuous production. In order to avoid problems with the conveyor belts, high-frequency monitoring and rapid control under abnormal conditions are particularly important.

[0003] With the addition of the Internet of Things, a data transmission network is established using a vertical limited network, and image acquisition is set up at the conveyor belts underground and above the well. Machine learning and image processing analysis are combined to monitor the entire conveyor belt around the clock, so that the conveyor belt can be found in the early stage of abnormality. At this time, the conveying status of the conveyor belt is adjusted or shut down, or personnel are dispatched in time to deal with it, which minimizes equipment and material losses. However, this method also has a problem. If you want to achieve comprehensive image acquisition of the conveyor belt, it is limited by the scope of the image acquisition area. You need to set up multiple acquisition lenses, which is costly, and some abnormal problems cannot be discovered by relying solely on images, such as micro-vibration, abnormal sound, etc. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent control system for mine transportation to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] An intelligent control system for mine transportation, including a conveying module and a data transmission network. The working status of the conveying module is collected by a conveying status monitoring module, and the collected information of the conveying status monitoring module is transmitted to a ground monitoring and control module on the ground through the data transmission network for data analysis, storage, and feedback control of the conveying module.

[0007] The conveying status monitoring module includes a conveyor belt overview image acquisition module, a sound acquisition module, a drop acquisition module, and a self-propelled zoom acquisition module, wherein the conveyor belt overview image acquisition module is located obliquely above one end of the conveying module and tilted downward to collect the surface image of the conveying module, the drop acquisition module is arranged at both ends of the conveying module, the drop acquisition module is a ray sensor group, the rays of the drop acquisition module are located above the edge of the belt body of the conveying module and parallel to the edge of the belt body, the self-propelled zoom acquisition module is arranged on the inner wall of the lane and is equipped with a track, the sound acquisition module is arranged at the lens of the self-propelled zoom acquisition module, and the ground monitoring and control module performs data processing on the image, sound, and drop information collected by the conveying status monitoring module and alarms, shuts down, or adjusts the conveying module through the control end.

[0008] As a further solution of the present invention: the ground monitoring and control module includes a monitoring end, a drop monitoring module, and an image screening module. After the drop acquisition module collects obstacle occlusion information, the signal is transmitted to the monitoring end through the data transmission network. The monitoring end analyzes the collected image in the conveyor belt overview image acquisition module corresponding to the obstacle information displayed by the drop acquisition module through the image screening module, and collects pictures or videos of the drop position and the drop situation or the conveyor belt offset situation, and stores the pictures or videos in the database.

[0009] As a further solution of the present invention: the ground monitoring and control module includes a sound screening module, the sound collection module collects abnormal sounds, the sound collection module has multiple collection microphones, and the sound collected by the sound collection module is filtered by the sound screening module for abnormal sounds, and the sound difference tracking sound positioning unit in the sound screening module calculates the direction of the abnormal sound, and after computer processing, the control end controls the self-propelled zoom collection module to move to the vicinity of the target point to perform zoom image collection.

[0010] As a further solution of the present invention: the surface of the conveying module is provided with a plurality of conveying rollers, and the conveying rollers are independently mounted on the brackets of the conveying module; the end brackets of the conveying rollers are mounted with vibration markers, and the vibration markers extend outward from the sides of the conveying module brackets; the vibration markers are displayed vertically, non-overlappingly and equidistantly in the captured image of the conveyor belt overview image acquisition module.

[0011] As a further solution of the present invention: the vibration marking sheet has a label plate, and the label plate of the vibration marking sheet is connected to the fixing part through a spring.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] The conveyor belt overview image acquisition module adjusts the acquisition direction of the conveyor belt so that the conveyor belt overview image acquisition module can serve the purpose of overview fuzzy acquisition. At the same time, when problems are found, the conveyor belt overview image acquisition module is used to collect images to provide accurate orientation for the self-propelled zoom acquisition module for fixed-point acquisition. Combined with sound acquisition and sound source positioning and the aforementioned image positioning, it is easier to find hidden problems that cannot be reflected in the image. The system uses fewer lenses to achieve more comprehensive conveyor belt monitoring purposes, quickly discovers safety hazards on the basis of monitoring, and timely adjusts, shuts down, and alarms the conveyor belt. It also accurately locates and reports abnormal points to maintenance personnel to achieve large-scale conveying system monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0015] Figure 1 Schematic diagram of images collected for the intelligent control system of mine transportation;

[0016] Figure 2 It is a side view schematic diagram of image acquisition of the intelligent control system of mine transportation;

[0017] Figure 3 This is the diagram of the intelligent control system for mine transportation;

[0018] Figure 4 This is a schematic diagram for locating the sound source;

[0019] In the figure: 1. Conveying module; 11. Conveying roller; 12. Vibration marking piece; 2. Ground monitoring and control module; 21. Monitoring end; 22. Drop monitoring module; 23. Control end; 24. Sound screening module; 25. Image screening module; 3. Conveying status monitoring module; 31. Conveyor belt overview image acquisition module; 32. Sound acquisition module; 33. Drop acquisition module; 34. Self-propelled zoom acquisition module. DETAILED DESCRIPTION

[0020] See also Figure 1-Figure 4 : In this embodiment, it includes a conveying module 1 and a data transmission network. The working status of the conveying module 1 is collected by the conveying status monitoring module 3. The collected information of the conveying status monitoring module 3 is transmitted to the ground monitoring and control module 2 on the ground through the data transmission network for data analysis, storage and feedback control of the conveying module 1.

[0021] In this embodiment, the data transmission network is laid out in the underground, vertical tunnels, and above the well in a wired form. The transportation status monitoring module 3 mainly collects the working status of the transportation module 1, and the sound and image information collected by the transportation status monitoring module 3 is transmitted to the ground monitoring and control module 2, and the monitoring terminal 21 in the ground monitoring and control module 2 is centrally monitored. The control terminal 23 mainly controls multiple transportation modules 1 remotely through the network to start, close, adjust, and alarm.

[0022] In this embodiment, the conveying status monitoring module 3 includes a conveyor belt overview image acquisition module 31, a sound acquisition module 32, a drop acquisition module 33, and a self-propelled zoom acquisition module 34, wherein the conveyor belt overview image acquisition module 31 is located obliquely above one end of the conveying module 1 and obliquely downward to collect the surface image of the conveying module 1, the drop acquisition module 33 is arranged at both ends of the conveying module 1, the drop acquisition module 33 is a ray sensor group, and the rays of the drop acquisition module 33 are located above the edge of the belt body of the conveying module 1 and parallel to the edge of the belt body, the self-propelled zoom acquisition module 34 is arranged on the inner wall of the lane and is equipped with a track, and the sound acquisition module 32 is arranged at the lens of the self-propelled zoom acquisition module 34, and the ground monitoring and control module 2 performs data processing on the image, sound, and drop information collected by the conveying status monitoring module 3 and alarms, shuts down or adjusts the conveying module 1 through the control end 23.

[0023] In this embodiment, most of the conveyor belts are straight, so the horizontal direction of the conveyor belt overview image acquisition module 31 is consistent with the conveying direction of the conveyor module 1, but the conveyor belt overview image acquisition module 31 is tilted downward, please refer to Figure 1 ,exist Figure 2 Under the collection angle of the conveyor belt overview image collection module 31, the image of the conveyor module 1 is Figure 1 Same, in Figure 1 The positions of multiple conveyor rollers 11 can be clearly observed, and the conveyor rollers 11 do not interfere with each other. Whether the conveyor belt is offset can also be seen through the conveyor rollers 11. Therefore, an indicator pattern can be coated on the conveyor rollers 11 to make the image collected by the conveyor belt overview image acquisition module 31 easier to accurately identify during the image processing process. Figure 1 The benefit of collecting the data from the viewing angle is that when the material falls, it is easier to determine the falling position according to the conveying roller 11, thereby achieving the purpose of accurate reporting.

[0024] In this embodiment, in order to simplify the number of cameras, a self-propelled zoom acquisition module 34 is provided. The self-propelled zoom acquisition module 34 is provided in parallel with the conveying direction of the conveying module 1. The lens of the self-propelled zoom acquisition module 34 can slide parallel to the conveying module 1. Although the lens area collected by the self-propelled zoom acquisition module 34 is small, under normal circumstances, the self-propelled zoom acquisition module 34 collects the end points of the conveyor belt for fixed collection, and the image collected by the conveyor belt overview image acquisition module 31 is used to judge abnormal points or continuous abnormal behaviors. For example, when the conveyor belt is offset or the material continues to fall at a fixed point, the precise position information obtained by the conveyor belt overview image acquisition module 31 can be used to control the self-propelled zoom acquisition module 34 to perform directional displacement through the control terminal 23, so as to collect detailed images of the problem points, use the zoom lens to enlarge the problem area for collection, and provide problem information to the technicians going to the problem area, so that the technicians are aware of the general situation when they arrive at the scene, thereby improving the efficiency of maintenance and adjustment.

[0025] In this embodiment, since the self-propelled zoom acquisition module 34 itself has self-propelled components, a sound acquisition module 32 is set at the moving zoom lens. The sound acquisition module 32 has multiple microphones distributed in a ring line. The ground monitoring and control module 2 includes a sound screening module 24. The sound acquisition module 32 collects abnormal sounds. The sound acquisition module 32 has multiple collection microphones. After the sound collected by the sound acquisition module 32 is filtered by the sound screening module 24 for abnormal sounds, the sound difference tracking and sound positioning unit in the sound screening module 24 calculates the position of the abnormal sound, and after computer processing, the self-propelled zoom acquisition module 34 is controlled by the control terminal 23 to move to the vicinity of the target point to perform zoom image acquisition.

[0026] In this embodiment, experimental analysis is required. First, various types of abnormal sounds are collected, and a frequency filtering audio noise reduction algorithm based on Fourier transform is used. The noisy time domain waveform is converted into a noisy spectrum through FFT to obtain the frequency of such abnormal sounds. If the frequency of the abnormal sound is similar to the normal sound frequency, the abnormal sound can be changed. For example, a metal plate is set at the bottom of the side of the conveyor belt to generate a metal impact trigger sound when it falls, so that the sound frequency changes. Or if the rotation sound frequency of the positioning roller is consistent with the normal noise sound frequency, a spring and an indicator sheet can be assumed at the vibration point, and the vibration trigger spring indicator sheet is used to shake and produce a special sound. The goal of sound collection is to obtain the abnormal sound frequency. After distinguishing the abnormal sound from the normal sound, the abnormal sound signal after removing the noise signal is obtained through the inverse Fourier transform IFFT. In the process of sound collection, the sound signal of the normal frequency is filtered by windowing to collect the target signal.

[0027] In this embodiment, please refer to Figure 4The above describes the implementation method of sound collection and differentiation. However, after the sound is collected, when the position cannot be located in the image collected by the conveyor belt overview image acquisition module 31, the sound source position can be obtained by using multi-point sound difference to identify the position of the sound source. Since the same sound source will produce a time difference when it is transmitted to microphones in different positions, this time difference is called time delay. The time delay is multiplied by the speed of sound to obtain the time difference. From the properties of the hyperbola, it can be seen that the absolute value of the difference in distance from any point on the hyperbola to the two foci is the real axis length of the hyperbola. Therefore, the sound source is at the focus of multiple curves with any two microphones as the focus and the sound path difference as the real axis length. Therefore, the approximate position of the sound can be obtained by using the time delay estimation sound source positioning algorithm. At this time, the self-propelled zoom acquisition module 34 is used to zoom and refine the image of the area for auxiliary judgment, thereby increasing the comprehensiveness.

[0028] In this embodiment, the ground monitoring and control module 2 includes a monitoring terminal 21, a drop monitoring module 22, and an image screening module 25. After the drop acquisition module 33 acquires the obstacle occlusion information, the signal is transmitted to the monitoring terminal 21 through the data transmission network. The monitoring terminal 21 analyzes the captured image in the conveyor belt overview image acquisition module 31 corresponding to the obstacle information displayed by the drop acquisition module 33 through the image screening module 25, and collects pictures or videos of the drop position and the drop situation or the conveyor belt offset situation, and stores the pictures or videos in the database.

[0029] In this embodiment, the image data collected by the conveyor belt overview image acquisition module 31 is large. When an instantaneous drop problem occurs, omissions may occur. Therefore, a drop acquisition module 33 is set. The drop acquisition module 33 is a through-beam sensor. The rays are parallel to the side of the conveyor belt and are located above the side of the conveyor belt. When an object falls, the drop acquisition module 33 is affected by obstacles and cannot receive the ray information. At this time, the information is captured by the drop monitoring module 22 and uploaded to the monitoring terminal 21. Therefore, the drop acquisition module 33 is used for auxiliary prompts to improve the accuracy of image processing by the conveyor belt overview image acquisition module 31.

[0030] In this embodiment, the surface of the conveying module 1 has multiple conveying rollers 11, and the conveying rollers 11 are independently installed at the bracket of the conveying module 1. The end bracket of the conveying roller 11 is installed with a vibration marking piece 12. The vibration marking piece 12 extends outward from the side of the conveying module 1 bracket. The vibration marking piece 12 is displayed vertically, non-overlappingly and equidistantly in the captured image of the conveyor belt overview image acquisition module 31. The vibration marking piece 12 has a label plate, and the label plate of the vibration marking piece 12 is connected to the fixed part through a spring.

[0031] See also Figure 1On the one hand, setting the vibration marker 12 can quickly identify the location where the problem occurs. On the other hand, setting the spring can amplify the swing amplitude of the vibration marker 12 through the spring when there is no obvious vibration behavior of the roller. Combined with the coordinated cooperation of the sound monitoring acquisition and the conveyor belt overview image acquisition module 31, the precise point position is provided for the self-propelled zoom acquisition module 34.

[0032] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An intelligent control system for mine transportation, comprising a conveying module (1) and a data transmission network, characterized in that: The working status of the conveying module (1) is collected by the conveying status monitoring module (3), and the collected information of the conveying status monitoring module (3) is transmitted to the ground monitoring and control module (2) on the ground through the data transmission network for data analysis and storage, as well as feedback control of the conveying module (1); The conveying state monitoring module (3) comprises a conveyor belt overview image acquisition module (31), a sound acquisition module (32), a drop acquisition module (33), and a self-propelled zoom acquisition module (34), wherein the conveyor belt overview image acquisition module (31) is located obliquely above one end of the conveying module (1) and obliquely downward to acquire a surface image of the conveying module (1), the drop acquisition module (33) is arranged at both ends of the conveying module (1), the drop acquisition module (33) is a radiation sensor group, and the drop acquisition module (33) is a self-propelled zoom acquisition module (34). The ray of the module (33) is located above the edge of the belt body of the conveying module (1) and is parallel to the edge of the belt body. The self-propelled zoom acquisition module (34) is arranged on the inner wall of the tunnel and is equipped with a track. The sound acquisition module (32) is arranged at the lens of the self-propelled zoom acquisition module (34). The ground monitoring and control module (2) performs data processing on the image, sound and drop information collected by the conveying status monitoring module (3) and issues an alarm, stops or adjusts the conveying module (1) through the control terminal (23).

2. The intelligent control system for mine transportation according to claim 1 is characterized in that: The ground monitoring and control module (2) comprises a monitoring terminal (21), a drop monitoring module (22), and an image screening module (25). After the drop acquisition module (33) acquires obstacle occlusion information, the signal is transmitted to the monitoring terminal (21) through a data transmission network. The monitoring terminal (21) analyzes the acquired image in the conveyor belt overview image acquisition module (31) corresponding to the obstacle information displayed by the drop acquisition module (33) through the image screening module (25), and acquires pictures or videos of the drop position and the drop condition or the conveyor belt deviation condition, and stores the pictures or videos in a database.

3. The intelligent control system for mine transportation according to claim 1 is characterized in that: The ground monitoring and control module (2) comprises a sound screening module (24), the sound collection module (32) collects abnormal sounds, the sound collection module (32) has a plurality of collection microphones, and after the sound collected by the sound collection module (32) is filtered by the sound screening module (24) for abnormal sounds, the sound difference tracking sound positioning unit in the sound screening module (24) calculates the position of the abnormal sound, and after computer processing, the control end (23) controls the self-propelled zoom collection module (34) to move to the vicinity of the target point to collect zoom images.

4. The intelligent control system for mine transportation according to claim 1 is characterized in that: The surface of the conveying module (1) has a plurality of conveying rollers (11), the conveying rollers (11) are independently mounted on the brackets of the conveying module (1), the end brackets of the conveying rollers (11) are mounted with vibration markers (12), the vibration markers (12) extend outwardly from the side of the conveying module (1) bracket, and the vibration markers (12) are vertically displayed without overlap and at equal distances in the captured image of the conveyor belt overview image capture module (31).

5. The intelligent control system for mine transportation according to claim 4 is characterized in that: The vibration marking sheet (12) has a marking plate, and the marking plate of the vibration marking sheet (12) is connected to a fixing part via a spring.

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