Collaborative alignment method for reversed loader and belt self-moving tail and related equipment

Abstract

The invention provides a collaborative alignment method for a reversed loader and a belt self-moving tail and related equipment. The collaborative alignment method comprises the steps that the angle between the outline of the belt self-moving tail and a coal throwing opening of the reversed loader is obtained; judging whether the belt self-moving tail and the reversed loader are straight or not according to the angle between the outline of the belt self-moving tail and a coal throwing opening of the reversed loader; if the belt self-moving tail and the reversed loader are not straight, whether the reversed loader or the self-moving tail deviates is judged according to the distance between the reversed loader and the roadway coal wall and the distance between the belt self-moving tail and the roadway coal wall; according to the deviation judgment result, a hydraulic driving system of the reversed loader or the belt self-moving tail is controlled to conduct automatic alignment adjustment till the belt self-moving tail and the reversed loader are straight; when the reversed loader and the belt conveyor tail are staggered, accurate adjustment can be achieved after offset equipment is determined according to the position relation of the reversed loader, the belt conveyor tail and a roadway coal wall, and cooperative automatic alignment of the reversed loader and the belt self-moving tail is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent mining in the coal mine industry, and particularly relates to a collaborative straightening method for a transfer machine and a belt self-shifting tail and related equipment. Background Art

[0002] During the collaborative advancement of the working face, the straight advancement of the transfer machine and the belt self-shifting tail is the most important part. Automatic identification of equipment status and automatic control can reduce the labor intensity of personnel and ensure safe production. In related technologies, the relative position coordinates of the self-shifting tail and the belt to be aligned are obtained through a three-dimensional beacon detection camera, and the self-shifting tail is controlled to perform straightening operations. However, during the process of pushing the transfer machine at the end of the working face, there will also be offset problems, and only manual observation and operation can be used. However, since personnel are near moving equipment, there are certain safety risks. At the same time, due to the fact that personnel cannot observe between the equipment and the coal wall, the distance between the equipment and the coal wall cannot be determined. As a result, the positional relationship between the transfer machine, the belt self-shifting tail and the coal wall cannot be visually determined, and there are errors in the subjective judgment of personnel. Summary of the Invention

[0003] The present invention provides a collaborative straightening method for a transfer machine and a belt self-shifting tail and related equipment, so as to solve the defect that the traditional automatic straightening method of the self-shifting tail ignores the offset problem of the transfer machine, and the collaborative straightening of the transfer machine and the belt self-shifting tail cannot be achieved because the distance between the equipment and the coal wall cannot be determined manually.

[0004] The present invention provides a collaborative straightening method for a transfer machine and a belt self-shifting tail, including: Obtaining the angle between the contour of the belt self-shifting tail and the coal throwing port of the transfer machine; Judging whether the belt self-shifting tail and the transfer machine are straight according to the angle between the contour of the belt self-shifting tail and the coal throwing port of the transfer machine; If the belt self-shifting tail and the transfer machine are not straight, judging whether it is the transfer machine or the self-shifting tail that has shifted according to the distance between the transfer machine and the roadway coal wall and the distance between the belt self-shifting tail and the roadway coal wall; According to the offset judgment result, controlling the hydraulic drive system of the transfer machine or the belt self-shifting tail to perform automatic straightening adjustment until the belt self-shifting tail and the transfer machine are straight.

[0005] According to the collaborative straightening method for a transfer machine and a belt self-shifting tail provided by the present invention, the method for obtaining the distance between the transfer machine and the roadway coal wall and the distance between the belt self-shifting tail and the roadway coal wall includes: Obtaining the distance between the belt self-shifting tail and the coal wall through a self-shifting tail distance measuring sensor; Obtaining the distance between the coal throwing port frame of the transfer machine and the coal wall through an intersection distance measuring sensor; Obtain the distance between the loader conveyor and the coal wall through the distance measuring sensor of the loader conveyor; Calculate the relative distance between the loader conveyor and the belt self - shifting tail according to the distance between the loader conveyor and the coal wall obtained by the distance measuring sensor of the loader conveyor, the distance between the edge frame of the coal - throwing port of the loader conveyor and the coal wall, and the distance difference of the distance between the loader conveyor and the coal wall in the direction relative to the coal wall.

[0006] According to the collaborative straightening method of the loader conveyor and the belt self - shifting tail provided by the present invention, the angle between the contour of the belt self - shifting tail and the coal - throwing port of the loader conveyor includes the left - hand side angle between the left side wall of the belt self - shifting tail and the edge frame of the coal - throwing port of the loader conveyor and the right - hand side angle between the right side wall of the belt self - shifting tail and the edge frame of the coal - throwing port of the loader conveyor; the judgment of whether the belt self - shifting tail and the loader conveyor are straight according to the angle between the contour of the belt self - shifting tail and the coal - throwing port of the loader conveyor includes: If the absolute value of the difference between the left - hand side angle between the left side wall of the belt self - shifting tail and the edge frame of the coal - throwing port of the loader conveyor and the right - hand side angle between the right side wall of the belt self - shifting tail and the edge frame of the coal - throwing port of the loader conveyor is less than the preset angle threshold, the distance between the edge frame of the coal - throwing port of the loader conveyor and the coal wall is the safe production distance, and the distance between the belt self - shifting tail and the coal wall and the relative distance between the loader conveyor and the belt self - shifting tail are both safe distances, then it is determined that the belt self - shifting tail and the loader conveyor are straight.

[0007] According to the collaborative straightening method of the loader conveyor and the belt self - shifting tail provided by the present invention, the judgment of whether the belt self - shifting tail and the loader conveyor are straight according to the angle between the contour of the belt self - shifting tail and the coal - throwing port of the loader conveyor further includes: When the absolute value of the difference between the left - hand side angle between the left side wall of the belt self - shifting tail and the edge frame of the coal - throwing port of the loader conveyor and the right - hand side angle between the right side wall of the belt self - shifting tail and the edge frame of the coal - throwing port of the loader conveyor is less than the preset angle threshold and the distance between the edge frame of the coal - throwing port of the loader conveyor and the coal wall is the safe production distance, if the distance between the belt self - shifting tail and the coal wall, the distance between the edge frame of the coal - throwing port of the loader conveyor and the coal wall, and the relative distance between the loader conveyor and the belt self - shifting tail decrease in sequence, then both the belt self - shifting tail and the loader conveyor are offset from the coal wall, and the belt self - shifting tail is offset in the direction away from the coal wall, and the loader conveyor is offset in the direction close to the coal wall; If the distance between the belt self - shifting tail and the coal wall, the distance between the edge frame of the coal - throwing port of the loader conveyor and the coal wall, and the relative distance between the loader conveyor and the belt self - shifting tail increase in sequence, then both the belt self - shifting tail and the loader conveyor are offset from the coal wall, and the belt self - shifting tail is offset in the direction close to the coal wall, and the loader conveyor is offset in the direction away from the coal wall.

[0008] According to the method for collaborative alignment of a loader and a belt self - shifting tailstock provided by the present invention, determining whether the belt self - shifting tailstock and the loader are straight based on the angle between the contour of the belt self - shifting tailstock and the coal - throwing port of the loader further includes: When the left - hand side angle between the left - hand side of the belt self - shifting tailstock and the frame of the coal - throwing port of the loader is greater than the right - hand side angle between the right - hand side of the belt self - shifting tailstock and the frame of the coal - throwing port of the loader, and the distance between the frame of the coal - throwing port of the loader and the coal wall is the safe production distance: If the distance between the belt self - shifting tailstock and the coal wall is less than the distance between the frame of the coal - throwing port of the loader and the coal wall, and the distance between the frame of the coal - throwing port of the loader and the coal wall is the same as the relative distance between the loader and the belt self - shifting tailstock, it is determined that the belt self - shifting tailstock is offset. If the distance between the belt self - shifting tailstock and the coal wall is less than the distance between the frame of the coal - throwing port of the loader and the coal wall, and the distance between the frame of the coal - throwing port of the loader and the coal wall is greater than the relative distance between the loader and the belt self - shifting tailstock, it is determined that both the belt self - shifting tailstock and the loader are offset from the coal wall, and both the front of the belt and the rear of the loader are offset away from the coal wall. If the distance between the belt self - shifting tailstock and the coal wall is equal to the distance between the frame of the coal - throwing port of the loader and the coal wall, and the distance between the frame of the coal - throwing port of the loader and the coal wall is greater than the relative distance between the loader and the belt self - shifting tailstock, it is determined that the loader is offset from the coal wall.

[0009] According to the method for collaborative alignment of a loader and a belt self - shifting tailstock provided by the present invention, determining whether the belt self - shifting tailstock and the loader are straight based on the angle between the contour of the belt self - shifting tailstock and the coal - throwing port of the loader further includes: When the left - hand side angle between the left - hand side of the belt self - shifting tailstock and the frame of the coal - throwing port of the loader is less than the right - hand side angle between the right - hand side of the belt self - shifting tailstock and the frame of the coal - throwing port of the loader, and the distance between the frame of the coal - throwing port of the loader and the coal wall is the safe production distance: If the distance between the belt self - shifting tailstock and the coal wall is less than the distance between the frame of the coal - throwing port of the loader and the coal wall, and the distance between the frame of the coal - throwing port of the loader and the coal wall is the same as the relative distance between the loader and the belt self - shifting tailstock, it is determined that both the belt self - shifting tailstock and the loader are offset from the coal wall, and both the front of the belt and the rear of the loader are offset away from the coal wall. If the distance between the belt self - shifting tailstock and the coal wall is greater than the distance between the frame of the coal - throwing port of the loader and the coal wall, and the distance between the frame of the coal - throwing port of the loader and the coal wall is the same as the relative distance between the loader and the belt self - shifting tailstock, it is determined that the belt self - shifting tailstock is offset.

[0010] According to the cooperative straightening method of the conveyor and the belt self-shifting tail of the coal face conveyor provided by the present invention, it is determined whether the belt self-shifting tail and the conveyor are straight according to the angle between the contour of the belt self-shifting tail and the coal throwing port of the conveyor, and it further includes: If the distance between the frame of the coal throwing port of the conveyor and the coal wall is greater than the safe production distance, or the distance between the frame of the coal throwing port of the conveyor and the coal wall is greater than the safe production distance, then adjust the position of the transfer point.

[0011] The present invention also provides a cooperative straightening device for the conveyor and the belt self-shifting tail of the coal face conveyor, including: An acquisition module, configured to acquire the angle between the contour of the belt self-shifting tail and the coal throwing port of the conveyor; A first judgment module, configured to judge whether the belt self-shifting tail and the conveyor are straight according to the angle between the contour of the belt self-shifting tail and the coal throwing port of the conveyor; A second judgment module, configured to, if the belt self-shifting tail and the conveyor are not straight, judge whether it is the conveyor or the self-shifting tail that has shifted according to the distance between the conveyor and the coal wall of the roadway and the distance between the belt self-shifting tail and the coal wall of the roadway; An adjustment module, configured to, according to the offset judgment result, control the hydraulic drive system of the conveyor or the belt self-shifting tail to perform automatic straightening adjustment until the belt self-shifting tail and the conveyor are straight.

[0012] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the program, it implements the cooperative straightening method of the conveyor and the belt self-shifting tail of the coal face conveyor as described in any one of the above.

[0013] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the cooperative straightening method of the conveyor and the belt self-shifting tail of the coal face conveyor as described in any one of the above.

[0014] The collaborative straightening method and related equipment for a transfer machine and a belt self - shifting tailstock provided by the present invention obtain the angle between the contour of the belt self - shifting tailstock and the coal - throwing port of the transfer machine; determine whether the belt self - shifting tailstock and the transfer machine are straight according to the angle between the contour of the belt self - shifting tailstock and the coal - throwing port of the transfer machine; if the belt self - shifting tailstock and the transfer machine are not straight, determine whether it is the transfer machine or the self - shifting tailstock that has shifted according to the distance between the transfer machine and the roadway coal wall and the distance between the belt self - shifting tailstock and the roadway coal wall; according to the offset judgment result, control the hydraulic drive system of the transfer machine or the belt self - shifting tailstock to perform automatic straightening adjustment until the belt self - shifting tailstock and the transfer machine are straight. It can realize accurate adjustment after determining the offset equipment according to the positional relationship among the transfer machine, the belt tailstock and the roadway coal wall when misalignment occurs between the transfer machine and the belt tailstock, and achieve the collaborative automatic straightening of the transfer machine and the belt self - shifting tailstock. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0016] Figure 1 It is a schematic flow chart of the collaborative straightening method for a transfer machine and a belt self - shifting tailstock provided by an embodiment of the present invention; Figure 2 It is a structural diagram of each part of the transfer machine and the belt self - shifting tailstock provided by an embodiment of the present invention; Figure 3 It is a contour diagram of the transfer machine and the belt self - shifting tailstock provided by an embodiment of the present invention; Figure 4 It is a schematic diagram of a distance - measuring sensor and the coal wall provided by an embodiment of the present invention; Figure 5 It is a schematic functional structure diagram of the collaborative straightening device for a transfer machine and a belt self - shifting tailstock provided by an embodiment of the present invention; Figure 6 It is a schematic functional structure diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present invention belong to the scope of protection of the present invention.

[0018] Figure 1 This is a flowchart of the collaborative straightening method for the transfer machine and the belt self-shifting tail provided by the embodiments of the present invention. As Figure 1 shown, the collaborative straightening method for the transfer machine and the belt self-shifting tail provided by the embodiments of the present invention includes: Step 101: Obtain the angle between the contour of the belt self-shifting tail and the coal throwing port of the transfer machine; Step 102: Determine whether the belt self-shifting tail and the transfer machine are straight according to the angle between the contour of the belt self-shifting tail and the coal throwing port of the transfer machine; In the embodiments of the present invention, the relative position relationship method is adopted to simplify variables and be more accurate.

[0019] Step 103: If the belt self-shifting tail and the transfer machine are not straight, determine whether it is the transfer machine or the self-shifting tail that has shifted according to the distance between the transfer machine and the roadway coal wall and the distance between the belt self-shifting tail and the roadway coal wall; Step 104: According to the offset judgment result, control the hydraulic drive system of the transfer machine or the belt self-shifting tail to perform automatic straightening adjustment until the belt self-shifting tail and the transfer machine are straight.

[0020] The traditional method for straightening the belt self-shifting tail is to obtain the relative position coordinates of the self-shifting tail and the belt to be aligned through a three-dimensional beacon detection camera, and control the self-shifting tail to perform straightening operations. However, during the process of pushing the transfer machine at the working face end, there will also be offset problems, and only manual observation and operation can be used. However, since the personnel are near the moving equipment, there is a certain safety risk. At the same time, since the personnel cannot pass through the observation between the equipment and the coal wall, the distance between the equipment and the coal wall cannot be determined. As a result, the positional relationship between the transfer machine and the belt self-shifting tail and the coal wall cannot be visually determined, and there are errors in the subjective judgment of the personnel.

[0021] The collaborative straightening method for the transfer machine and the belt self-shifting tail provided by the embodiments of the present invention, by obtaining the angle between the contour of the belt self-shifting tail and the coal throwing port of the transfer machine; determining whether the belt self-shifting tail and the transfer machine are straight according to the angle between the contour of the belt self-shifting tail and the coal throwing port of the transfer machine; if the belt self-shifting tail and the transfer machine are not straight, determining whether it is the transfer machine or the self-shifting tail that has shifted according to the distance between the transfer machine and the roadway coal wall and the distance between the belt self-shifting tail and the roadway coal wall; according to the offset judgment result, controlling the hydraulic drive system of the transfer machine or the belt self-shifting tail to perform automatic straightening adjustment until the belt self-shifting tail and the transfer machine are straight, can realize accurate adjustment after determining the offset equipment according to the positional relationship between the transfer machine, the belt tail and the roadway coal wall when there is a dislocation between the transfer machine and the belt tail, and realize the collaborative automatic straightening of the transfer machine and the belt self-shifting tail.

[0022] Based on any of the above embodiments, the method for obtaining the distance between the loader and the roadway coal wall and the distance between the belt self - shifting tail and the roadway coal wall includes: Obtain the distance between the belt self - shifting tail and the coal wall through the distance - measuring sensor of the self - shifting tail; Obtain the distance between the border of the coal - throwing port of the loader and the coal wall through the distance - measuring sensor at the intersection point; Obtain the distance between the loader and the coal wall through the distance - measuring sensor of the loader; Calculate the relative distance between the loader and the belt self - shifting tail according to the distance between the loader and the coal wall obtained by the distance - measuring sensor of the loader and the distance difference between the distance between the border of the coal - throwing port of the loader and the coal wall and the distance between the loader and the coal wall in the direction relative to the coal wall.

[0023] Based on any of the above embodiments, the angle between the contour of the belt self - shifting tail and the coal - throwing port of the loader includes the left - hand side angle between the left side wall of the belt self - shifting tail and the border of the coal - throwing port of the loader and the right - hand side angle between the right side wall of the belt self - shifting tail and the border of the coal - throwing port of the loader; the judgment of whether the belt self - shifting tail and the loader are straight according to the angle between the contour of the belt self - shifting tail and the coal - throwing port of the loader includes: If the absolute value of the difference between the left - hand side angle between the left side wall of the belt self - shifting tail and the border of the coal - throwing port of the loader and the right - hand side angle between the right side wall of the belt self - shifting tail and the border of the coal - throwing port of the loader is less than the preset angle threshold, the distance between the border of the coal - throwing port of the loader and the coal wall is the safe production distance, and the distances between the belt self - shifting tail and the coal wall and between the loader and the belt self - shifting tail are both safe distances, then it is determined that the belt self - shifting tail and the loader are straight.

[0024] When the absolute value of the difference between the left - hand side angle between the left side wall of the belt self - shifting tail and the border of the coal - throwing port of the loader and the right - hand side angle between the right side wall of the belt self - shifting tail and the border of the coal - throwing port of the loader is less than the preset angle threshold and the distance between the border of the coal - throwing port of the loader and the coal wall is the safe production distance, if the distances between the belt self - shifting tail and the coal wall, between the border of the coal - throwing port of the loader and the coal wall, and between the loader and the belt self - shifting tail decrease in sequence, then both the belt self - shifting tail and the loader deviate from the coal wall, and the belt self - shifting tail deviates away from the coal wall, while the loader deviates towards the coal wall; If the distances between the belt self - shifting tail and the coal wall, between the border of the coal - throwing port of the loader and the coal wall, and between the loader and the belt self - shifting tail increase in sequence, then both the belt self - shifting tail and the loader deviate from the coal wall, and the belt self - shifting tail deviates towards the coal wall, while the loader deviates away from the coal wall.

[0025] When the left angle between the left side of the belt self - shifting tail and the frame of the coal - throwing port of the loader is greater than the right angle between the right side of the belt self - shifting tail and the frame of the coal - throwing port of the loader, and the distance between the frame of the loader's coal - throwing port and the coal wall is the safe production distance: If the distance between the belt self - shifting tail and the coal wall is less than the distance between the frame of the loader's coal - throwing port and the coal wall, and the distance between the frame of the loader's coal - throwing port and the coal wall is the same as the relative distance between the loader and the belt self - shifting tail, then it is determined that the belt self - shifting tail has shifted; If the distance between the belt self - shifting tail and the coal wall is less than the distance between the frame of the loader's coal - throwing port and the coal wall, and the distance between the frame of the loader's coal - throwing port and the coal wall is greater than the relative distance between the loader and the belt self - shifting tail, then it is determined that both the belt self - shifting tail and the loader have shifted away from the coal wall, and both the front of the belt and the rear of the loader have shifted away from the coal wall; If the distance between the belt self - shifting tail and the coal wall is equal to the distance between the frame of the loader's coal - throwing port and the coal wall, and the distance between the frame of the loader's coal - throwing port and the coal wall is greater than the relative distance between the loader and the belt self - shifting tail, then it is determined that the loader has shifted away from the coal wall.

[0026] When the left angle between the left side of the belt self - shifting tail and the frame of the coal - throwing port of the loader is less than the right angle between the right side of the belt self - shifting tail and the frame of the coal - throwing port of the loader, and the distance between the frame of the loader's coal - throwing port and the coal wall is the safe production distance: If the distance between the belt self - shifting tail and the coal wall is less than the distance between the frame of the loader's coal - throwing port and the coal wall, and the distance between the frame of the loader's coal - throwing port and the coal wall is the same as the relative distance between the loader and the belt self - shifting tail, then it is determined that both the belt self - shifting tail and the loader have shifted away from the coal wall, and both the front of the belt and the rear of the loader have shifted away from the coal wall; If the distance between the belt self - shifting tail and the coal wall is greater than the distance between the frame of the loader's coal - throwing port and the coal wall, and the distance between the frame of the loader's coal - throwing port and the coal wall is the same as the relative distance between the loader and the belt self - shifting tail, then it is determined that the belt self - shifting tail has shifted.

[0027] If the distance between the frame of the loader's coal - throwing port and the coal wall is greater than the safe production distance, or the distance between the frame of the loader's coal - throwing port and the coal wall is greater than the safe production distance, then adjust the position of the transfer point.

[0028] In the embodiment of the present invention, the structures of each part of the loader and the belt self - shifting tail are as Figure 2 shown, Figure 2 In the figure, 1 is the loader; 2 is the lidar sensor; 3 is the side of the belt tail; 4 is the frame of the coal - throwing port of the loader; 5 is the loader; 6 is the coal wall; 7 is the distance - measuring sensor of the self - shifting tail; 8 is the distance - measuring sensor at the intersection point; 9 is the distance - measuring sensor of the loader.

[0029] The perspective of the lidar sensor of the belt self-shifting tail is as Figure 3 shown. The lower box is the lidar sensor, the inverted U-shaped frame is the border of the coal throwing port of the conveyor, and the sidewalls of the belt tail connected to the border of the coal throwing port of the conveyor and presenting left and right angles are the sidewalls of the belt tail. The left and right angles between the sidewalls of the belt tail and the border of the coal throwing port of the conveyor measured by the lidar sensor are ∠a and ∠b respectively.

[0030] As Figure 4 shown, the distance measured by the ranging sensor of the self-shifting tail between the belt self-shifting tail and the coal wall is AB, the distance measured by the ranging sensor at the intersection between the border of the coal throwing port of the conveyor and the coal wall is CD, and the distance measured by the ranging sensor of the conveyor between the conveyor and the coal wall is EF. L is the distance difference between the ranging sensor at the intersection and the ranging sensor of the conveyor in the direction relative to the coal wall. EF - L is the relative distance between the conveyor and the belt self-shifting tail.

[0031] If ∠a≈∠b, CD is approximately equal to the safe production distance, and AB≈CD≈EF - L (approximate equality is the effective deviation in engineering), then the belt self-shifting tail and the conveyor are straight.

[0032] If ∠a≈∠b, CD is approximately equal to the safe production distance, and AB>CD>EF - L, then both the belt self-shifting tail and the conveyor are offset from the coal wall, and the offset of the belt self-shifting tail is larger. Conversely, the offset of the conveyor is larger.

[0033] If ∠a>∠b, CD is approximately equal to the safe production distance, and AB<CD≈EF - L, then the belt self-shifting tail is offset.

[0034] If ∠a>∠b, CD is approximately equal to the safe production distance, and AB <cd>If it is EF-L, then both the belt self-shifting tail and the transfer conveyor deviate from the coal wall, and both the front of the belt and the rear of the transfer conveyor deviate away from the coal wall.

[0035] If ∠a > ∠b, CD is approximately equal to the safe production distance, AB ≈ CD > EF-L, then the transfer conveyor deviates from the coal wall.

[0036] If ∠a < ∠b, CD is approximately equal to the safe production distance, AB ≈ CD < EF-L, then the transfer conveyor deviates.

[0037] If ∠a < ∠b, CD is approximately equal to the safe production distance, AB <cd>If it is EF-L, then both the belt self-shifting tail and the conveyor are offset from the coal wall, and both the front of the belt and the rear of the conveyor are offset away from the coal wall.

[0038] If ∠a < ∠b, CD is approximately equal to the safe production distance, AB > CD ≈ EF-L, then the belt self-shifting tail is offset.

[0039] If CD is greater than or less than the safe production distance, the position of the transfer point needs to be adjusted.

[0040] Based on any of the above embodiments, according to the offset judgment result, control the hydraulic drive system of the conveyor or the belt self-shifting tail to perform automatic straightening adjustment until the belt self-shifting tail is straight with the conveyor, including: According to the data of the lidar sensor and the ranging sensor, judge the offset direction and offset amount of the conveyor or the belt self-shifting tail; Generate an adjustment instruction containing the following information: Offset equipment: conveyor or belt self-shifting tail; Offset direction: towards the coal wall or away from the coal wall; Adjustment amount: the displacement amount or angle adjustment amount of the hydraulic drive system.

[0041] The adjustment instruction is used for hydraulic drive system control, and the hydraulic drive system control includes conveyor adjustment and belt self-shifting tail adjustment: If the conveyor is offset, control its hydraulic propulsion mechanism: Offset towards the coal wall: control the hydraulic cylinder to contract, so that the conveyor moves away from the coal wall; Offset away from the coal wall: control the hydraulic cylinder to extend, so that the conveyor moves towards the coal wall; During the adjustment process, continuously monitor the distance (EF) between the conveyor and the coal wall and the distance (CD) between the coal throwing port frame of the conveyor and the coal wall to ensure the accuracy of the adjustment amount.

[0042] If the belt self-shifting tail is offset, control its hydraulic lateral movement mechanism: Offset towards the coal wall: control the hydraulic cylinder to contract, so that the belt self-shifting tail moves away from the coal wall; Offset away from the coal wall: control the hydraulic cylinder to extend, so that the belt self-shifting tail moves towards the coal wall; During the adjustment process, continuously monitor the distance (AB) between the belt self-shifting tail and the coal wall and the angles (∠a, ∠b) to ensure that the straightness after adjustment meets the standard.

[0043] After the adjustment is completed, re-collect the data of the lidar sensor and the ranging sensor; judge whether the straightness after adjustment meets the preset threshold: if it meets, stop the adjustment and maintain the current state; if it does not meet, repeat the above adjustment steps until the straightness meets the standard.

[0044] The co - straightening method for the transfer machine and the belt self - shifting tailstock provided by the embodiment of the present invention judges the angular relationship between the contours of the transfer machine and the belt self - shifting tailstock, and uses the relative angles and positions of the sensors instead of the traditional comparison of absolute distances and numerical values. The calculation is simple, which simplifies the number of on - site sensors and the complexity of the algorithm. It simplifies the installation quantity of sensors and the coordinate conversion calculation problem. The number of sensors to be installed is small, and the straightness and offset of the equipment can be monitored in different situations. There are fewer variables for relative position judgment, and the judgment is more flexible. Moreover, by measuring the distance from the equipment to the coal wall, it is judged whether the transfer machine or the belt tailstock has shifted, and then automatic straightening adjustment is carried out until it is adjusted within the straight range, so as to achieve fast and accurate adjustment.

[0045] The co - straightening device for the transfer machine and the belt self - shifting tailstock provided by the present invention will be described below. The co - straightening device for the transfer machine and the belt self - shifting tailstock described below can be mutually corresponding and referred to the co - straightening method for the transfer machine and the belt self - shifting tailstock described above.

[0046] Figure 5 is a schematic structural diagram of the co - straightening device for the transfer machine and the belt self - shifting tailstock provided by the embodiment of the present invention, as Figure 5 shown, the co - straightening device for the transfer machine and the belt self - shifting tailstock provided by the embodiment of the present invention includes: An acquisition module 501, configured to acquire the angle between the contour of the belt self - shifting tailstock and the coal - throwing port of the transfer machine; A first judgment module 502, configured to judge whether the belt self - shifting tailstock and the transfer machine are straight according to the angle between the contour of the belt self - shifting tailstock and the coal - throwing port of the transfer machine; A second judgment module 503, configured to, if the belt self - shifting tailstock and the transfer machine are not straight, judge whether it is the transfer machine or the self - shifting tailstock that has shifted according to the distance between the transfer machine and the roadway coal wall and the distance between the belt self - shifting tailstock and the roadway coal wall; An adjustment module 504, configured to control the hydraulic drive system of the transfer machine or the belt self - shifting tailstock to perform automatic straightening adjustment according to the offset judgment result until the belt self - shifting tailstock and the transfer machine are straight.

[0047] The collaborative straightening device for the loader and the belt self-shifting tailstock provided by the embodiment of the present invention obtains the angle between the contour of the belt self-shifting tailstock and the coal throwing port of the loader; determines whether the belt self-shifting tailstock and the loader are straight according to the angle between the contour of the belt self-shifting tailstock and the coal throwing port of the loader; if the belt self-shifting tailstock and the loader are not straight, determines whether it is the loader or the self-shifting tailstock that has shifted according to the distance between the loader and the roadway coal wall and the distance between the belt self-shifting tailstock and the roadway coal wall; according to the offset judgment result, controls the hydraulic drive system of the loader or the belt self-shifting tailstock to perform automatic straightening adjustment until the belt self-shifting tailstock and the loader are straight, and can realize accurate adjustment after determining the offset equipment according to the positional relationship among the loader, the belt tailstock and the roadway coal wall when misalignment occurs between the loader and the belt tailstock, so as to achieve the collaborative automatic straightening of the loader and the belt self-shifting tailstock.

[0048] Figure 6 An example of a schematic physical structure diagram of an electronic device is shown in Figure 6 As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630, and a communication bus 640. Among them, the processor 610, the communication interface 620, and the memory 630 communicate with each other through the communication bus 640. The memory 630 includes computer programs, operating systems, and acquired data. The processor 610 can call the logical instructions in the memory 630 to execute the collaborative straightening method for the loader and the belt self-shifting tailstock. The method includes: obtaining the angle between the contour of the belt self-shifting tailstock and the coal throwing port of the loader; determining whether the belt self-shifting tailstock and the loader are straight according to the angle between the contour of the belt self-shifting tailstock and the coal throwing port of the loader; if the belt self-shifting tailstock and the loader are not straight, determining whether it is the loader or the self-shifting tailstock that has shifted according to the distance between the loader and the roadway coal wall and the distance between the belt self-shifting tailstock and the roadway coal wall; according to the offset judgment result, controlling the hydraulic drive system of the loader or the belt self-shifting tailstock to perform automatic straightening adjustment until the belt self-shifting tailstock and the loader are straight.

[0049] In addition, when the logical instructions in the above-mentioned memory 630 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the related art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0050] On the other hand, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is used to implement the collaborative straightening method of the transfer machine and the belt self-shifting tail of the belt conveyor. The method includes: obtaining the angle between the contour of the belt self-shifting tail and the coal throwing port of the transfer machine; judging whether the belt self-shifting tail and the transfer machine are straight according to the angle between the contour of the belt self-shifting tail and the coal throwing port of the transfer machine; if the belt self-shifting tail and the transfer machine are not straight, judging whether it is the transfer machine or the self-shifting tail that has deviated according to the distance between the transfer machine and the roadway coal wall and the distance between the belt self-shifting tail and the roadway coal wall; according to the deviation judgment result, controlling the hydraulic drive system of the transfer machine or the belt self-shifting tail to perform automatic straightening adjustment until the belt self-shifting tail and the transfer machine are straight.

[0051] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative labor.

[0052] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution, in essence, or the part that contributes to the related technology can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.< / cd> < / cd>

Claims

1. A collaborative straightening method for a loader and a belt self - shifting tail, characterized in that Including: Obtaining the angle between the contour of the tail of the belt self-shifting machine and the coal throwing port of the loading machine; Judging whether the tail of the belt self-shifting machine and the loading machine are straight according to the angle between the contour of the tail of the belt self-shifting machine and the coal throwing port of the loading machine; If the tail of the belt self-shifting machine and the loading machine are not straight, judging whether it is the loading machine or the tail of the self-shifting machine that has shifted according to the distance between the loading machine and the coal wall of the roadway and the distance between the tail of the belt self-shifting machine and the coal wall of the roadway; According to the offset judgment result, controlling the hydraulic drive system of the loading machine or the tail of the belt self-shifting machine to perform automatic straightening adjustment until the tail of the belt self-shifting machine and the loading machine are straight.

2. The co-rectifying method of the loader and the belt self-shifting tailstock according to claim 1, characterized in that, The method for obtaining the distance between the loading machine and the coal wall of the roadway and the distance between the tail of the belt self-shifting machine and the coal wall of the roadway includes: Obtaining the distance between the tail of the belt self-shifting machine and the coal wall through the distance measuring sensor of the self-shifting machine tail; Obtaining the distance between the frame of the coal throwing port of the loading machine and the coal wall through the cross-point distance measuring sensor; Obtaining the distance between the loading machine and the coal wall through the distance measuring sensor of the loading machine; Calculating the relative distance between the loading machine and the tail of the belt self-shifting machine according to the distance between the loading machine and the coal wall obtained by the distance measuring sensor of the loading machine and the distance difference between the distance between the frame of the coal throwing port of the loading machine and the coal wall and the distance between the loading machine and the coal wall in the direction of the coal wall.

3. The co-axial alignment method of the loader and the belt self-shifting tailstock according to claim 2, characterized in that, The angle between the contour of the tail of the belt self-shifting machine and the coal throwing port of the loading machine includes the left angle between the left side of the tail of the belt self-shifting machine and the frame of the coal throwing port of the loading machine and the right angle between the right side of the tail of the belt self-shifting machine and the frame of the coal throwing port of the loading machine; the judging whether the tail of the belt self-shifting machine and the loading machine are straight according to the angle between the contour of the tail of the belt self-shifting machine and the coal throwing port of the loading machine includes: If the absolute value of the difference between the left angle between the left side of the tail of the belt self-shifting machine and the frame of the coal throwing port of the loading machine and the right angle between the right side of the tail of the belt self-shifting machine and the frame of the coal throwing port of the loading machine is less than the preset angle threshold, and the distance between the frame of the coal throwing port of the loading machine and the coal wall, the distance between the tail of the belt self-shifting machine and the coal wall, and the relative distance between the loading machine and the tail of the belt self-shifting machine are all safe distances, it is determined that the tail of the belt self-shifting machine and the loading machine are straight.

4. The collaborative straightening method of the loader and the belt self-shifting tailstock according to claim 2, characterized in that, The judging whether the tail of the belt self-shifting machine and the loading machine are straight according to the angle between the contour of the tail of the belt self-shifting machine and the coal throwing port of the loading machine further includes: When the absolute value of the difference between the left angle between the left side of the tail of the belt self-shifting machine and the frame of the coal throwing port of the loading machine and the right angle between the right side of the tail of the belt self-shifting machine and the frame of the coal throwing port of the loading machine is less than the preset angle threshold and the distance between the frame of the coal throwing port of the loading machine and the coal wall is the safe production distance, if the distance between the tail of the belt self-shifting machine and the coal wall, the distance between the frame of the coal throwing port of the loading machine and the coal wall, and the relative distance between the loading machine and the tail of the belt self-shifting machine decrease in sequence, both the tail of the belt self-shifting machine and the loading machine are offset from the coal wall, and the tail of the belt self-shifting machine is offset in the direction away from the coal wall, and the loading machine is offset in the direction close to the coal wall; If the distance between the tail of the belt self-shifting machine and the coal wall, the distance between the coal throwing port frame of the transfer machine and the coal wall, and the relative distance between the transfer machine and the tail of the belt self-shifting machine increase in sequence, then both the tail of the belt self-shifting machine and the transfer machine shift away from the coal wall, and the tail of the belt self-shifting machine shifts towards the direction close to the coal wall, while the transfer machine shifts towards the direction away from the coal wall.

5. The collaborative straightening method of the loader and the belt self-shifting tailstock according to claim 2, characterized in that, Judging whether the tail of the belt self-shifting machine and the transfer machine are straight according to the angle between the contour shape of the tail of the belt self-shifting machine and the coal throwing port of the transfer machine further includes: When the left angle between the left side of the tail of the belt self-shifting machine and the coal throwing port frame of the transfer machine is greater than the right angle between the right side of the tail of the belt self-shifting machine and the coal throwing port frame of the transfer machine, and the distance between the coal throwing port frame of the transfer machine and the coal wall is the safe production distance: If the distance between the tail of the belt self-shifting machine and the coal wall is less than the distance between the coal throwing port frame of the transfer machine and the coal wall, and the distance between the coal throwing port frame of the transfer machine and the coal wall is the same as the relative distance between the transfer machine and the tail of the belt self-shifting machine, then it is determined that the tail of the belt self-shifting machine has shifted. If the distance between the tail of the belt self-shifting machine and the coal wall is less than the distance between the coal throwing port frame of the transfer machine and the coal wall, and the distance between the coal throwing port frame of the transfer machine and the coal wall is greater than the relative distance between the transfer machine and the tail of the belt self-shifting machine, then it is determined that both the tail of the belt self-shifting machine and the transfer machine have shifted away from the coal wall, and both the front of the belt and the rear of the transfer machine shift towards the direction away from the coal wall. If the distance between the tail of the belt self-shifting machine and the coal wall is equal to the distance between the coal throwing port frame of the transfer machine and the coal wall, and the distance between the coal throwing port frame of the transfer machine and the coal wall is greater than the relative distance between the transfer machine and the tail of the belt self-shifting machine, then it is determined that the transfer machine has shifted away from the coal wall.

6. The co - straightening method of the loader and the belt self - shifting tailstock according to claim 2, characterized in that, Judging whether the tail of the belt self-shifting machine and the transfer machine are straight according to the angle between the contour shape of the tail of the belt self-shifting machine and the coal throwing port of the transfer machine further includes: When the left angle between the left side of the tail of the belt self-shifting machine and the coal throwing port frame of the transfer machine is less than the right angle between the right side of the tail of the belt self-shifting machine and the coal throwing port frame of the transfer machine, and the distance between the coal throwing port frame of the transfer machine and the coal wall is the safe production distance: If the distance between the tail of the belt self-shifting machine and the coal wall is less than the distance between the coal throwing port frame of the transfer machine and the coal wall, and the distance between the coal throwing port frame of the transfer machine and the coal wall is the same as the relative distance between the transfer machine and the tail of the belt self-shifting machine, then it is determined that both the tail of the belt self-shifting machine and the transfer machine have shifted away from the coal wall, and both the front of the belt and the rear of the transfer machine shift towards the direction away from the coal wall. If the distance between the tail of the belt self-shifting machine and the coal wall is greater than the distance between the coal throwing port frame of the transfer machine and the coal wall, and the distance between the coal throwing port frame of the transfer machine and the coal wall is the same as the relative distance between the transfer machine and the tail of the belt self-shifting machine, then it is determined that the tail of the belt self-shifting machine has shifted.

7. The method for collaborative alignment of the loader and the belt self-shifting tailstock according to claim 2, wherein Judging whether the tail of the belt self-shifting machine and the transfer machine are straight according to the angle between the contour shape of the tail of the belt self-shifting machine and the coal throwing port of the transfer machine further includes: If the distance between the coal throwing port frame of the transfer machine and the coal wall is greater than the safe production distance, or the distance between the coal throwing port frame of the transfer machine and the coal wall is greater than the safe production distance, then adjust the position of the transfer point.

8. A collaborative straightening device for a loader and a belt self-shifting tail, characterized in that, Including: An acquisition module, configured to acquire the angle between the contour of the tail of the belt self-shifting machine and the coal throwing port of the transfer machine; A first judgment module, configured to judge whether the tail of the belt self-shifting machine and the transfer machine are straight according to the angle between the contour of the tail of the belt self-shifting machine and the coal throwing port of the transfer machine; A second judgment module, configured to, if the tail of the belt self-shifting machine and the transfer machine are not straight, judge whether it is the transfer machine or the tail of the self-shifting machine that has shifted according to the distance between the transfer machine and the roadway coal wall and the distance between the tail of the belt self-shifting machine and the roadway coal wall; An adjustment module, configured to, according to the offset judgment result, control the hydraulic drive system of the transfer machine or the tail of the belt self-shifting machine to perform automatic straightening adjustment until the tail of the belt self-shifting machine and the transfer machine are straight.

9. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the collaborative straightening method for the transfer machine and the tail of the belt self-shifting machine according to any one of claims 1 to 7.

10. A non-transitory readable storage medium, on which a computer program is stored, characterized in that, When the computer program is executed by the processor, it implements the collaborative straightening method for the transfer machine and the tail of the belt self-shifting machine according to any one of claims 1 to 7.

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