Intelligent vision-based material lifting and transporting system

Abstract

The present application relates to the technical field of intelligent vision, and more particularly to a material lifting and transporting system based on intelligent vision, which is provided with an operation module, a scanning module, a transient feature extraction module, a trend analysis module, an intelligent response module and a transportation correction module, acquires material surface point cloud data and back bulge point cloud data of a conveying belt through the scanning module, constructs a transient cross-section profile and marks a profile twist trend point through the transient feature extraction module, determines a belt twist trend and judges whether there is a trend release risk through the trend analysis module, switches the working mode of a dumping unit through the intelligent response module, and corrects the duration of a sub-cycle in a pulse cycle through the transportation correction module, thereby achieving accurate monitoring of transient belt twist risks, flexible adjustment of dumping modes and intelligent correction of the transportation process, and improving the efficiency and stability of material conveying in construction operations.

Description

A material lifting and transportation system based on intelligent vision Technical Field

[0001] This invention relates to the field of intelligent vision technology, and in particular to a material lifting and transport system based on intelligent vision. Background Technology

[0002] During construction and excavation operations, a large amount of gravel is generated. During belt conveyor transport, the gravel accumulation state and friction changes are easily affected, causing frequent belt twisting. Excessive belt twisting not only poses a risk of gravel falling but may also damage the belt, causing construction to stop and seriously affecting the project progress. In tunnel environments, the lack of real-time monitoring of the transport belt and material status makes it difficult to predict the risk of belt twisting in advance and to take timely and effective measures to avoid transportation accidents. Therefore, there is an urgent need for an intelligent vision-based material lifting and transport system that can achieve efficient and stable transportation of gravel in the complex environment of tunnels.

[0003] For example, Chinese Patent Publication No. CN112793989A discloses an intelligent speed control method for belt conveyors based on material monitoring. Through manual speed adjustment, the material load at different positions on the belt conveyor and the corresponding drive motor speed are obtained and used as training data to train an initial neural network, resulting in a neural network system with cognitive capabilities. After training, the intelligent speed control system is activated. Based on the material information data collected by the material monitoring device during the actual operation of the belt conveyor, the core processor calculates the material load data at different positions on the belt conveyor and sends it to the cognitive neural network. The neural network system predicts and obtains the optimal speed of the current belt conveyor drive motor, and the belt conveyor control system adjusts the drive motor's speed using frequency conversion based on this data.

[0004] The following problems still exist in the existing technology:

[0005] Existing technologies do not consider that the accumulation of materials with unstable shapes during construction operations can easily lead to local surface twisting of the conveyor belt. Existing technologies cannot accurately monitor the risk of transient conveyor belt twisting, nor can they flexibly adjust the dumping method or intelligently correct the transportation process, thus affecting the efficiency and stability of material conveying during construction operations. Summary of the Invention

[0006] To address this, the present invention provides a material lifting and transport system based on intelligent vision, which overcomes the problems of existing technologies that cannot accurately monitor the risk of transient belt twisting, cannot flexibly adjust the tipping method, and cannot intelligently correct the transport process.

[0007] To achieve the above objectives, the present invention provides a material lifting and transport system based on intelligent vision, comprising:

[0008] The operating module includes a conveyor belt and a dumping unit for dumping materials onto the conveyor belt for conveying.

[0009] The scanning module includes a first scanning unit for acquiring point cloud data of the material surface of the conveyor belt and a second scanning unit for acquiring point cloud data of the back ridge of the conveyor belt.

[0010] A transient feature extraction module, which is connected to the scanning module, is used to construct a transient cross-sectional profile based on the point cloud data of the material surface and the point cloud data of the back ridge, and to mark the profile twisting trend points of the conveyor belt on the transient cross-sectional profile.

[0011] The trend analysis module, which is connected to the transient feature extraction module, is used to determine the belt twisting trend based on the distribution of the contour twisting trend points, so as to determine whether there is a risk of trend release in belt transportation.

[0012] The intelligent response module is connected to the operation module and the trend analysis module respectively. It is used to switch the dumping unit to dump the material onto the conveyor belt in a pulse dumping mode according to the judgment result of the trend release risk. The output amount per unit time of each pulse cycle in the pulse dumping mode is different.

[0013] The transport correction module is connected to the operation module and the intelligent response module respectively. It is used to obtain the belt twisting trend after the material dumping mode is switched, and to correct the duration of the sub-cycle in the pulse cycle based on the comparison of the belt twisting trend at several consecutive moments.

[0014] Furthermore, the first scanning unit is disposed in the space above the conveyor belt, and the second scanning unit is disposed in the space below the conveyor belt, and the longitudinal direction of the first scanning unit and the second scanning unit is the same.

[0015] Furthermore, the transient feature extraction module is used to construct the transient cross-sectional profile, wherein,

[0016] The transient feature extraction module is used to obtain the coordinates of several points on the material surface based on the point cloud data of the material surface, and to construct the material surface contour segment based on the coordinates of the several points on the material surface.

[0017] Based on the cloud data of the back bulge, the coordinates of several points on the back of the belt are obtained, and the back bulge contour segment is constructed based on the coordinates of the several points on the back of the belt.

[0018] Obtain the material surface profile segment and the back ridge profile segment within a cross section perpendicular to the horizontal ground at the same moment, and determine the profile formed by the material surface profile segment and the back ridge profile segment as the transient cross section profile.

[0019] Furthermore, the contour twisting trend points marked by the transient feature extraction module include a first set of trend points determined based on the maximum coordinate value on the material surface contour segment of the transient cross-sectional contour, and a second set of trend points determined based on the curvature meeting the bulge screening condition on the back bulge contour segment of the transient cross-sectional contour.

[0020] Wherein, the maximum coordinate value is the maximum coordinate value in the direction perpendicular to the horizontal ground, and the bulge screening condition is that the curvature exceeds a preset curvature threshold.

[0021] Furthermore, the trend analysis module is used to determine the trend release vector based on the distribution of contour twisting trend points in the coordinate system, wherein,

[0022] The trend analysis module determines the first trend sub-vector of each point in the first trend point set, and the vector obtained by adding several first trend sub-vectors together is determined as the first trend vector.

[0023] Determine the second trend sub-vector for each point in the second trend point set, and determine the second trend vector by adding several second trend sub-vectors together.

[0024] The vector obtained by adding the first trend vector and the second trend vector is determined as the trend release vector.

[0025] Furthermore, each first trend sub-vector takes a point in the first trend point set as its starting point and a point on the horizontal axis of the coordinate system as its ending point, and each first trend sub-vector is perpendicular to the horizontal axis of the coordinate system.

[0026] Each second trend sub-vector takes a point in the second trend point set as its starting point and a point on the vertical axis of the coordinate system as its ending point. The ending point of the vector is the intersection of the pre-constructed back bulge sample contour segment and the vertical axis of the coordinate system.

[0027] The horizontal axis of the coordinate system is determined based on the two belt endpoints along the belt width direction, and the vertical axis of the coordinate system is the axis where the center points of the two belt endpoints are located.

[0028] Furthermore, the trend analysis module is used to determine the angle between the trend release vector and the vertical axis of the coordinate system, and to determine whether there is a trend release risk in the belt conveyor based on the angle.

[0029] If the included angle does not exceed the preset included angle reference value, the trend analysis module determines that there is no risk of trend release in belt transportation;

[0030] If the included angle exceeds the preset included angle reference value, the trend analysis module determines that there is a risk of trend release in the belt conveyor.

[0031] Furthermore, the intelligent response module is used to switch the tilting unit to pulse tilting mode based on the determination result that there is a risk of release in the belt conveyor.

[0032] The pulse tilting method includes several pulse cycles executed continuously. Each pulse cycle includes a high-frequency discharge sub-cycle and a low-frequency discharge sub-cycle. The discharge amount per unit time of a high-frequency discharge sub-cycle is greater than the discharge amount per unit time of a low-frequency discharge sub-cycle.

[0033] Furthermore, the transportation correction module acquires trend release vectors at several consecutive moments and determines the trend release vectors corresponding to adjacent moments respectively. Based on the vector angle between two trend release vectors corresponding to adjacent moments, it determines whether to correct the duration of the sub-cycle in the pulse period.

[0034] If the vector angle is less than a preset vector angle threshold, the transport correction module determines to correct the duration of the sub-period in the pulse period;

[0035] Each moment in the continuous time interval is alternately set in the high-frequency discharge sub-cycle and the low-frequency discharge sub-cycle in a time sequence.

[0036] Furthermore, the transport correction module corrects the duration ratio of the low-frequency material discharge sub-cycle in the pulse cycle based on the vector angle, and the duration ratio is negatively correlated with the vector angle.

[0037] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention sets up an operation module, a scanning module, a transient feature extraction module, a trend analysis module, an intelligent response module, and a transportation correction module. The scanning module acquires point cloud data of the material surface and back ridge point cloud data of the conveyor belt. The transient feature extraction module constructs the transient cross-sectional profile and marks the contour twisting trend points of the conveyor belt. The trend analysis module determines the belt twisting trend based on the distribution of the contour twisting trend points to determine whether there is a risk of trend release. The intelligent response module switches the working mode of the tilting unit. The transportation correction module corrects the duration of the sub-cycle in the pulse cycle. Thus, the present invention achieves accurate monitoring of transient belt twisting risk, flexible adjustment of tilting mode and intelligent correction of transportation process, and improves the efficiency and stability of material transportation in construction operations.

[0038] Furthermore, by acquiring point cloud data of the material surface to construct a material surface contour segment and acquiring point cloud data of the belt back bulge to construct a back bulge contour segment, this invention can comprehensively and accurately reflect the actual state of the belt during transportation from two key aspects: the material and the belt. It not only considers the material accumulation pattern but also pays attention to the bulge on the belt back, making the constructed transient cross-sectional contour more comprehensive and representative, which is conducive to accurately analyzing the belt twisting trend and the risks involved.

[0039] Furthermore, a first trend point set is determined on the material surface profile segment of the transient cross-section based on the maximum coordinate value in the direction perpendicular to the horizontal ground. This effectively captures the protruding points on the material surface in the vertical direction. A second trend point set is determined on the back bulge profile segment based on the curvature. This accurately locates the parts of the belt with more obvious back bulges. The trend sub-vectors of the first and second trend point sets are determined by the trend analysis module, and the trend vector and trend release vector are obtained by adding them together. This quantifies the torsional trend of the belt in different dimensions, transforms the complex belt state into a vector form for quantitative processing, and realizes accurate monitoring of transient belt torsional risk.

[0040] Furthermore, this invention determines whether there is a risk of trend release in belt conveyor by calculating the angle between the trend release vector and the vertical axis of the coordinate system. This transforms the complex situation of belt twisting into a specific numerical angle for analysis, achieving a quantitative assessment of the belt conveyor status. This allows for more timely judgment of whether the belt is in a dangerous state, effectively ensuring the normal progress of construction, reducing project delays caused by transportation accidents, and improving construction efficiency and safety.

[0041] Furthermore, this invention uses a pulse tilting method to arrange materials periodically on the belt, changing the way materials accumulate. In the high-frequency discharge sub-cycle, materials accumulate rapidly, while in the low-frequency discharge sub-cycle, material supply is reduced, allowing the belt to release stress in areas with less material accumulation. This avoids stress concentration caused by continuous material accumulation, reduces the risk of belt failure due to local twisting accumulation, and ensures the safe transport of materials.

[0042] Furthermore, this invention obtains trend release vectors at several consecutive moments and determines whether to correct the duration of sub-cycles in the pulse period based on the angle between vectors at adjacent moments. This allows for real-time adjustment of the tilting pulse period according to the actual dynamic situation of belt conveyor transport. The proportion of the duration of the low-frequency discharge sub-cycle in the pulse period is corrected based on the vector angle. When the vector angle is small, the effect of slowing down the belt twisting trend is not obvious. In this case, increasing the proportion of the duration of the low-frequency discharge sub-cycle gives the belt more space to release stress, effectively alleviating the harm caused by the accumulation of local belt twisting. It also allows for flexible adjustment of the tilting method and intelligent correction of the transport process, improving the efficiency and stability of material conveying in construction operations. Attached Figure Description

[0043] Figure 1 is a system block diagram of the material lifting and transportation system based on intelligent vision according to an embodiment of the present invention;

[0044] Figure 2 is a schematic diagram of the torsional trend points on the transient cross-sectional profile of an embodiment of the present invention;

[0045] Figure 3 is a schematic diagram of the first trend sub-vector and the second trend sub-vector according to an embodiment of the present invention;

[0046] Figure 4 is a flowchart of the logic of the transportation correction module in an embodiment of the present invention determining whether to correct the duration of the sub-cycle;

[0047] In the figure, 1-transient cross-sectional profile, 2-conveyor belt, 3-first trend sub-vector, 4-second trend sub-vector. Detailed Implementation

[0048] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0049] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0050] It should be noted that in the description of this invention, the terms "upper," "lower," "inner," "outer," etc., which indicate the direction or positional relationship, are based on the direction or positional relationship shown in the drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0051] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0052] Please refer to Figure 1, which is a system block diagram of the intelligent vision-based material lifting and transportation system according to an embodiment of the present invention. The intelligent vision-based material lifting and transportation system of the present invention includes:

[0053] The operating module includes a conveyor belt 2 and a dumping unit for dumping materials onto the conveyor belt 2 for conveying.

[0054] Specifically, the dumping unit in this invention can be a material discharge mechanism that connects the tunneling equipment and the conveyor belt at the construction site. The tunneling equipment undertakes the task of excavating and breaking rocks during tunnel construction. Its operation process will directly generate a large amount of gravel and soil, which need to be discharged directly from the construction site via the conveyor belt in a timely manner. It is well known to those skilled in the art that the tunneling equipment crushes the materials generated during tunneling and dumps them onto the conveyor belt via the material discharge mechanism, so it will not be described in detail here.

[0055] In practice, the tilting unit of the tunneling equipment can control the amount of material discharged per unit time in different sub-cycles by controlling the opening and closing of the discharge port valve.

[0056] The scanning module includes a first scanning unit for acquiring point cloud data of the material surface of the conveyor belt 2 and a second scanning unit for acquiring point cloud data of the back ridge of the conveyor belt 2.

[0057] Specifically, the present invention does not limit the specific structure of the first scanning unit and the second scanning unit. They can be three-dimensional laser scanners. Obtaining point cloud data of workpieces through three-dimensional laser scanners is a commonly used technical means in industrial production, which will not be elaborated here.

[0058] A transient feature extraction module, which is connected to the scanning module, is used to construct a transient cross-sectional profile 1 based on the point cloud data of the material surface and the point cloud data of the back ridge, and to mark the profile twisting trend points of the conveyor belt on the transient cross-sectional profile 1.

[0059] Specifically, the present invention does not limit the transient feature extraction module. It can be an image processing tool that uses various image processing and 3D reconstruction algorithms to convert point cloud data into the surface contour of an object. It is often used in industrial production scenarios such as quality inspection, part identification and positioning, etc., which will not be elaborated here.

[0060] The trend analysis module, which is connected to the transient feature extraction module, is used to determine the belt twisting trend based on the distribution of the contour twisting trend points, so as to determine whether there is a risk of trend release in belt transportation.

[0061] Specifically, the present invention does not limit the specific structure of the trend analysis module, which can be used by a graphics processor to construct vectors in the transient cross-sectional profile, and will not be elaborated here.

[0062] The intelligent response module is connected to the operation module and the trend analysis module respectively. It is used to switch the dumping unit to dump the material onto the conveyor belt 2 in a pulse dumping mode according to the judgment result of the trend release risk. The output amount per unit time of each pulse cycle in the pulse dumping mode is different.

[0063] The transport correction module is connected to the operation module and the intelligent response module respectively. It is used to obtain the belt twisting trend after the material dumping mode is switched, and to correct the duration of the sub-cycle in the pulse cycle based on the comparison of the belt twisting trend at several consecutive moments.

[0064] Specifically, the present invention does not limit the specific structure of the intelligent response module and the transportation correction module. They can be constructed using logic components, such as field-programmable logic components, microprocessors, processors used in computers, etc., which will not be elaborated here.

[0065] Specifically, the first scanning unit is disposed in the space above the conveyor belt 2, and the second scanning unit is disposed in the space below the conveyor belt 2, and the first scanning unit and the second scanning unit are in the same longitudinal direction.

[0066] For example, the first scanning unit and the second scanning unit can be set at the position of the conveyor belt within a preset range from the tilting unit. The preset range from the tilting unit can be [3, 10], with the interval unit being m. Preferably, the first scanning unit and the second scanning unit can be set at a position 5m away from the tilting unit.

[0067] Specifically, the transient feature extraction module is used to construct the transient cross-sectional profile 1, wherein,

[0068] The transient feature extraction module is used to obtain the coordinates of several points on the material surface based on the point cloud data of the material surface, and to construct the material surface contour segment based on the coordinates of the several points on the material surface.

[0069] Based on the cloud data of the back bulge, the coordinates of several points on the back of the belt are obtained, and the back bulge contour segment is constructed based on the coordinates of the several points on the back of the belt.

[0070] Obtain the material surface profile segment and the back ridge profile segment within a cross section perpendicular to the horizontal ground at the same moment, and define the profile formed by the material surface profile segment and the back ridge profile segment as the transient cross section profile 1.

[0071] Specifically, this invention constructs a material surface contour segment by acquiring point cloud data of the material surface and constructs a back bulge contour segment by acquiring point cloud data of the belt back bulge. This allows for a comprehensive and accurate reflection of the actual state of the belt during transportation from two key aspects: the material and the belt. It not only considers the material accumulation pattern but also pays attention to the bulge on the back of the belt, making the constructed transient cross-sectional contour more comprehensive and representative. This is beneficial for accurately analyzing the belt's twisting trend and existing risks.

[0072] Specifically, please refer to Figure 2, which is a schematic diagram of the twisting trend points on the transient cross-sectional profile 1 according to an embodiment of the present invention. The contour twisting trend points marked by the transient feature extraction module include a first set of trend points determined according to the maximum coordinate value on the material surface profile segment of the transient cross-sectional profile 1, and a second set of trend points determined according to the curvature meeting the bulge screening condition on the back bulge profile segment of the transient cross-sectional profile 1.

[0073] Wherein, the maximum coordinate value is the maximum coordinate value in the direction perpendicular to the horizontal ground, and the bulge screening condition is that the curvature exceeds a preset curvature threshold.

[0074] Please refer to Figure 2. The transient cross-sectional profile 1 includes point a in the first trend point set and points b and c in the second trend point set.

[0075] In implementation, the preset curvature threshold can be obtained from pre-tests. Pre-tests are conducted on the back bulge contour segments at several locations during the conveying process of belts of the same specification. The average curvature of several points on each back bulge contour segment is calculated using the numerical difference method. The mean of the average curvature of the back bulge contour segments at several locations is determined as the preset curvature threshold. Based on experimental calculations, the range of the curvature threshold is [2, 2.35], with the unit being meters (m). -1 Preferably, a curvature threshold value is provided here, with a preset curvature threshold of 2.2m. -1 .

[0076] Specifically, it can be understood that the maximum value of the coordinates perpendicular to the ground usually corresponds to the extreme points of the geometric features of the material surface. The material accumulation height is relatively high at these points. Under mechanical vibration or dynamic load, the highest point of the accumulation shape is also the location where displacement changes are likely to occur. Therefore, it is a key location for analyzing surface torsion. Curvature is a quantitative indicator of the degree of bending of the profile curve. The greater the curvature, the more obvious the local change of the profile. If the curvature of the back bulge profile segment exceeds the threshold, it indicates that there is significant local deformation in this area. For flexible conveyor belt materials, the curvature change point gathers the material with protruding shape, which can easily lead to the surface torsion of the belt. Therefore, it is a key location for analyzing surface torsion.

[0077] Specifically, the trend analysis module is used to determine the trend release vector based on the distribution of contour twisting trend points in the coordinate system, wherein,

[0078] The trend analysis module determines the first trend sub-vector 3 for each point in the first trend point set, and the vector obtained by adding several first trend sub-vectors 3 together is determined as the first trend vector.

[0079] Determine the second trend sub-vector 4 for each point in the second trend point set, and determine the vector obtained by adding several second trend sub-vectors 4 together as the second trend vector;

[0080] The vector obtained by adding the first trend vector and the second trend vector is determined as the trend release vector.

[0081] Specifically, it can be understood that during the conveying process, the direction of movement of the highest point of material accumulation reflects the overall downward trend caused by the high accumulation of material, and the vector superposition reflects the state of the overall downward trend. The direction of movement of the point with greater curvature in the back bulge profile reflects the release direction of local geometric abrupt change or stress concentration, and the vector superposition reflects the synergistic effect of local deformation. By adding the first trend vector and the second trend vector, the trend release vector is obtained, which reflects the coupling relationship of multi-scale features.

[0082] Specifically, a first trend point set is determined on the material surface profile segment of the transient cross-section based on the maximum coordinate value in the direction perpendicular to the horizontal ground. This effectively captures the protruding points on the material surface in the vertical direction. A second trend point set is determined on the back bulge profile segment based on the curvature. This accurately locates the parts of the belt with more obvious back bulges. The trend analysis module determines the trend sub-vectors of the first and second trend point sets respectively. By adding them together, the trend vector and trend release vector are obtained. This quantifies the torsional trend of the belt in different dimensions, transforming the complex belt state into a vector form for quantitative processing. This enables precise monitoring of transient belt torsional risks.

[0083] Specifically, please refer to Figure 3, which is a schematic diagram of the first trend sub-vector and the second trend sub-vector of the present invention. Each first trend sub-vector 3 takes a point in the first trend point set as the vector starting point and a point on the horizontal axis in the coordinate system as the vector ending point. Each first trend sub-vector 3 is perpendicular to the horizontal axis of the coordinate system.

[0084] Each second trend sub-vector 4 takes a point in the second trend point set as the vector starting point and a point on the vertical axis in the coordinate system as the vector ending point. The vector ending point is the intersection of the pre-constructed back bulge sample contour segment and the vertical axis of the coordinate system.

[0085] The horizontal axis of the coordinate system is determined based on the two belt endpoints along the belt width direction, and the vertical axis of the coordinate system is the axis where the center points of the two belt endpoints are located.

[0086] Please refer to Figure 3. The first trend sub-vector 3 is constructed with the contour twisting trend point a as the starting point of the vector, and the second trend sub-vector 4 is constructed with the contour twisting trend points b and c as the starting points of the vectors, respectively.

[0087] In practice, the pre-constructed back bulge sample profile segment is the back bulge profile segment under the stable operation state of the conveyor belt, that is, the lowest point of the back bulge profile segment and the midpoint determined by the two endpoints of the back bulge profile segment are on the same axis.

[0088] Specifically, the trend analysis module is used to determine the angle between the trend release vector and the vertical axis of the coordinate system, and to determine whether there is a trend release risk in the belt conveyor based on the angle.

[0089] If the included angle does not exceed the preset included angle reference value, the trend analysis module determines that there is no risk of trend release in belt transportation;

[0090] If the included angle exceeds the preset included angle reference value, the trend analysis module determines that there is a risk of trend release in the belt conveyor.

[0091] Specifically, the included angle reference value can be set by those skilled in the art. In order to avoid the inclusion of risky states due to the included angle reference value being set too large, and the inclusion angle reference value being set too small, resulting in excessive calculations for analysis, the range of the included angle reference value can be set to [25°, 35°]. Preferably, the preset included angle reference value is set to 30°.

[0092] It is understandable that the angle between the trend release vector and the vertical axis of the coordinate system reflects the overall trend of stress concentration release. The larger the angle, the higher the proportion of the horizontal component of the trend release vector, reflecting that the deformation direction of the material or belt is more horizontal, and the degree of local twisting of the conveyor belt is more obvious.

[0093] Specifically, this invention determines whether there is a risk of trend release in belt conveyor by calculating the angle between the trend release vector and the vertical axis of the coordinate system. It can transform the complex situation of belt twisting into a specific numerical angle for analysis, realize the quantitative assessment of the belt conveyor status, and thus more timely determine whether the belt is in a dangerous state. This effectively ensures the normal progress of construction, reduces project stagnation caused by transportation accidents, and improves construction efficiency and safety.

[0094] Specifically, the intelligent response module is used to switch the tilting unit to pulse tilting mode based on the determination result that there is a risk of release in the belt conveyor.

[0095] The pulse tilting method includes several pulse cycles executed continuously. Each pulse cycle includes a high-frequency discharge sub-cycle and a low-frequency discharge sub-cycle. The discharge amount per unit time of a high-frequency discharge sub-cycle is greater than the discharge amount per unit time of a low-frequency discharge sub-cycle.

[0096] Understandably, when there is a risk of belt conveyor failure, it is necessary to quickly reduce the instantaneous load to alleviate the stress concentration while maintaining the continuity of material conveying. This can be achieved by alternating between high-frequency and low-frequency discharge sub-cycles, utilizing the low-frequency phase to release the accumulated local stress, thus enabling timely release of risks in the belt conveyor system.

[0097] Specifically, this invention uses a pulse tilting method to arrange materials periodically on the belt, changing the way materials accumulate. In the high-frequency discharge sub-cycle, materials accumulate rapidly, while in the low-frequency discharge sub-cycle, material supply is reduced, allowing the belt to release stress in areas with less material accumulation. This avoids stress concentration caused by continuous material accumulation, reduces the risk of belt failure due to local twisting accumulation, and ensures the safe transport of materials.

[0098] Specifically, please refer to Figure 4, which is a flowchart of the logic of the transportation correction module in this embodiment of the invention determining whether to correct the duration of the sub-cycle. The transportation correction module obtains the trend release vectors of several consecutive moments and determines the trend release vectors corresponding to adjacent moments respectively. It determines whether to correct the duration of the sub-cycle in the pulse cycle based on the vector angle between the two trend release vectors corresponding to adjacent moments.

[0099] If the vector angle is less than a preset vector angle threshold, the transport correction module determines to correct the duration of the sub-period in the pulse period;

[0100] If the vector angle is greater than or equal to a preset vector angle threshold, the transport correction module will not correct the duration of the sub-period in the pulse period;

[0101] Each moment in the continuous time interval is alternately set in the high-frequency discharge sub-cycle and the low-frequency discharge sub-cycle in a time sequence.

[0102] In practice, the purpose of setting the vector angle threshold is to effectively identify whether the change in belt twisting trend after the material dumping mode is obvious. It can be set to [5°, 8°], and preferably, the vector angle threshold is set to 7°.

[0103] Specifically, the transport correction module corrects the duration ratio of the low-frequency material discharge sub-cycle in the pulse cycle based on the vector angle, and the duration ratio is negatively correlated with the vector angle.

[0104] In practice, the duration ratio of the low-frequency discharge sub-cycle in the pulse cycle is corrected according to the vector angle. In fact, the duration ratio of the high-frequency discharge sub-cycle in the pulse cycle is also corrected at the same time. The sum of the duration ratio of the high-frequency discharge sub-cycle in the pulse cycle and the duration ratio of the low-frequency discharge sub-cycle in the pulse cycle is 1.

[0105] For example, the process of adjusting the duration of the low-frequency discharge sub-cycle in the pulse cycle according to the vector angle can be determined by the ratio of the vector angle to the vector angle threshold.

[0106] If the ratio of the vector angle to the vector angle threshold is in (0, 0.5], then the duration of the low-frequency discharge sub-cycle in the pulse cycle is adjusted to 0.7.

[0107] If the ratio of the vector angle to the vector angle threshold is in (0.5, 0.9], then the duration of the low-frequency discharge sub-cycle in the pulse cycle is adjusted to 0.55.

[0108] If the ratio of the vector angle to the vector angle threshold is (0.9, 1), then the duration of the low-frequency discharge sub-cycle in the pulse cycle is adjusted to 0.45.

[0109] Specifically, this invention acquires trend release vectors at several consecutive moments and determines whether to correct the duration of sub-cycles in the pulse period based on the angle between vectors at adjacent moments. It can adjust the tilting pulse period in real time according to the actual dynamic situation of belt conveyor transport. The proportion of the low-frequency discharge sub-cycle in the pulse period is corrected based on the vector angle. When the vector angle is small, the effect of slowing down the belt twisting trend is not obvious. In this case, increasing the proportion of the low-frequency discharge sub-cycle gives the belt more space to release stress, effectively mitigating the harm caused by the accumulation of local belt twisting. It flexibly adjusts the tilting method and intelligently corrects the transport process, improving the efficiency and stability of material conveying during construction operations.

[0110] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

[0111] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A material lifting and transport system based on intelligent vision, characterized in that, include: The operating module includes a conveyor belt and a dumping unit for dumping materials onto the conveyor belt for conveying. The scanning module includes a first scanning unit for acquiring point cloud data of the material surface of the conveyor belt and a second scanning unit for acquiring point cloud data of the back ridge of the conveyor belt; a transient feature extraction module connected to the scanning module is used to construct a transient cross-sectional profile based on the point cloud data of the material surface and the point cloud data of the back ridge, and to mark the profile twisting trend points of the conveyor belt on the transient cross-sectional profile. The trend analysis module, which is connected to the transient feature extraction module, is used to determine the belt twisting trend based on the distribution of the contour twisting trend points, so as to determine whether there is a risk of trend release in belt transportation. The intelligent response module is connected to the operation module and the trend analysis module respectively. It is used to switch the dumping unit to dump the material onto the conveyor belt in a pulse dumping mode according to the judgment result of the trend release risk. The output amount per unit time of each pulse cycle in the pulse dumping mode is different. The transport correction module, connected to both the operation module and the intelligent response module, is used to acquire the belt twisting trend after the material dumping mode is switched, and to correct the duration of the sub-cycle in the pulse cycle based on the comparison of belt twisting trends at several consecutive moments. The contour twisting trend points marked by the transient feature extraction module include a first set of trend points determined based on the maximum coordinate value on the material surface contour segment of the transient cross-sectional contour, and a second set of trend points determined based on the curvature meeting the bulge screening condition on the back bulge contour segment of the transient cross-sectional contour. The maximum coordinate value is the maximum coordinate value perpendicular to the horizontal ground direction, and the bulge screening condition is that the curvature exceeds a preset curvature threshold. The transient feature extraction module is used to construct a transient cross-sectional profile. Specifically, it acquires the coordinates of several points on the material surface based on point cloud data and constructs a material surface profile segment based on these coordinates. It also acquires the coordinates of several points on the back of the conveyor belt based on point cloud data and constructs a back bulge profile segment based on these coordinates. Furthermore, it acquires the material surface profile segment and the back bulge profile segment within a cross-section perpendicular to the horizontal ground at the same moment, and determines the profile formed by these two segments as the transient cross-sectional profile. The trend analysis module determines the trend release vector based on the distribution of the profile twisting trend points in the coordinate system. The trend analysis module determines the first trend sub-vector for each point in the first trend point set, and the vector obtained by adding several first trend sub-vectors is determined as the first trend vector; it also determines the second trend sub-vector for each point in the second trend point set, and the vector obtained by adding several second trend sub-vectors is determined as the second trend vector; the vector obtained by adding the first trend vector and the second trend vector is determined as the trend release vector; each first trend sub-vector takes a point in the first trend point set as its starting point and a point on the horizontal axis of the coordinate system as its ending point, and each first trend sub-vector is perpendicular to the horizontal axis of the coordinate system; each second trend sub-vector takes a point in the second trend point set as its starting point and a point on the vertical axis of the coordinate system as its ending point. The point is the endpoint of the vector, which is the intersection of the pre-constructed back bulge sample contour segment and the vertical axis of the coordinate system; wherein, the horizontal axis of the coordinate system is determined based on the two belt endpoints in the belt width direction, and the vertical axis of the coordinate system is the axis where the center points of the two belt endpoints are located; the trend analysis module is used to determine the angle between the trend release vector and the vertical axis of the coordinate system, and to determine whether there is a trend release risk in belt transportation based on the angle; wherein, if the angle does not exceed a preset angle reference value, the trend analysis module determines that there is no trend release risk in belt transportation; if the angle exceeds the preset angle reference value, the trend analysis module determines that there is a trend release risk in belt transportation;The transport correction module acquires trend release vectors at several consecutive moments and determines the trend release vectors corresponding to adjacent moments. Based on the vector angle between two trend release vectors at adjacent moments, it determines whether to correct the duration of the sub-cycle within the pulse period. If the vector angle is less than a preset vector angle threshold, the transport correction module determines to correct the duration of the sub-cycle within the pulse period. Each moment in the consecutive moments is sequentially set between the high-frequency discharge sub-cycle and the low-frequency discharge sub-cycle.

2. The material lifting and transport system based on intelligent vision according to claim 1, characterized in that, The first scanning unit is disposed in the space above the conveyor belt, and the second scanning unit is disposed in the space below the conveyor belt, and the first scanning unit and the second scanning unit are in the same longitudinal direction.

3. The material lifting and transport system based on intelligent vision according to claim 2, characterized in that, The intelligent response module is used to switch the tilting unit to pulse tilting mode based on the judgment result that there is a risk of release in the belt conveyor. The pulse tilting mode includes several pulse cycles executed continuously. Each pulse cycle includes a high-frequency discharge sub-cycle and a low-frequency discharge sub-cycle. The discharge amount per unit time of a high-frequency discharge sub-cycle is greater than the discharge amount per unit time of a low-frequency discharge sub-cycle.

4. The material lifting and transport system based on intelligent vision according to claim 3, characterized in that, The transport correction module corrects the duration ratio of the low-frequency material discharge sub-cycle in the pulse cycle based on the vector angle, and the duration ratio is negatively correlated with the vector angle.

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