Belt self-moving tail and self-moving belt telescopic device position detection system and method

Abstract

The invention discloses a position detection system and method for a belt self-moving tail and a self-moving belt telescopic device. The position detection system comprises an anti-explosion shell, an industrial personal computer arranged in the anti-explosion shell and an image acquisition unit. Two opposite side walls of the explosion-proof shell are provided with explosion-proof windows; the image acquisition unit comprises a first visual camera and a second visual camera which are correspondingly mounted at the two explosion-proof windows; a lens of the first visual camera faces the belt frame through the explosion-proof window and is used for collecting an image of the belt frame; a lens of the second visual camera faces the belt self-moving tail through the explosion-proof window and is used for collecting an image of the belt self-moving tail; the industrial personal computer is electrically connected with the first visual camera and the second visual camera and used for processing the collected images and calculating relative position data. Three-dimensional coordinates of corresponding key points are obtained by recognizing image data of the belt frame and the belt self-moving tail, and the relative distance, the relative height difference and the relative deviation angle among the belt frame, the belt self-moving tail and the self-moving belt telescopic device are calculated.

Description

Technical Field

[0001] This invention relates to the field of underground transportation equipment technology in coal mines, and in particular to a system and method for detecting the position of a self-moving belt tail and a self-moving belt telescopic device. Background Technology

[0002] In the fully mechanized mining face of modern mines, belt conveyors are key equipment for coal transportation. As the working face advances, the conveyor needs to complete the overall stepping and extension adjustment through the self-moving tail and the self-moving belt telescopic device. In this process, it is crucial to ensure that the self-moving belt telescopic device, the front belt frame, and the rear belt self-moving tail maintain the correct relative position (including distance, height, and angle). Excessive positional deviation will lead to belt misalignment, increased wear, and even equipment collision, causing downtime accidents. Existing technology can only judge by manual observation. However, the method of judging the relative position of the self-moving belt telescopic device with the belt frame and the belt self-moving tail by manual observation has the following defects: (1) Manual observation is highly subjective, inefficient, has a high risk factor, and poor accuracy; (2) The data observed by manual observation cannot be directly transmitted to the control system as the basis for automatic control; (3) Manual observation cannot meet the needs of unmanned operation. Summary of the Invention

[0003] In order to solve the technical problems existing in the above-mentioned technologies, it is necessary to provide a belt self-moving tail section and a self-moving belt telescopic device position detection system.

[0004] A position detection system for a self-moving belt tail section and a self-moving belt telescopic device includes an explosion-proof housing installed in the middle of the self-moving belt telescopic device, and an industrial control computer and an image acquisition unit built into the explosion-proof housing.

[0005] The explosion-proof enclosure has explosion-proof windows on two opposite side walls;

[0006] The image acquisition unit includes a first vision camera and a second vision camera installed at two explosion-proof windows respectively; the lens of the first vision camera is directed through the explosion-proof window toward the belt frame to acquire images of the belt frame; the lens of the second vision camera is directed through the explosion-proof window toward the tail of the belt self-moving machine to acquire images of the tail of the belt self-moving machine.

[0007] The industrial control computer is electrically connected to the first vision camera and the second vision camera, and is used to process the acquired images and calculate relative position data.

[0008] Preferably, a power supply module is installed inside the explosion-proof housing, and the power supply module is electrically connected to the industrial control computer, the first vision camera, and the second vision camera.

[0009] Preferably, infrared fill light groups are arranged around the first vision camera and the second vision camera. The infrared fill light groups are electrically connected to the power supply module and the industrial control computer. The infrared fill light groups can adaptively adjust the fill light intensity according to the ambient light intensity.

[0010] Preferably, the explosion-proof housing is equipped with a communication module for transmitting the obtained relative position data to the outside.

[0011] It is also necessary to provide a method for detecting the position of the self-moving tail of the belt conveyor and the self-moving belt telescopic device.

[0012] A method for detecting the position of a self-moving belt tail section and a self-moving belt extension device, using the aforementioned self-moving belt tail section and self-moving belt extension device position detection system, includes the following steps.

[0013] Step S1: Acquire image data of the belt conveyor and the self-moving tail of the belt conveyor;

[0014] Step S2: Based on image recognition, identify the preset feature targets from the acquired image data;

[0015] Step S3: Based on the principle of structured light binocular vision, calculate the three-dimensional spatial coordinates of key points in the feature target;

[0016] Step S4: Obtain the three-dimensional coordinates of key points on the belt conveyor and the tail of the self-propelled belt conveyor. Calculate the relative distance between the self-propelled belt extension device and the belt conveyor through geometric fitting and coordinate transformation. The relative height difference between the self-propelled belt telescopic device and the belt frame The relative offset angle between the self-propelled belt telescopic device and the belt frame The relative distance between the self-propelled belt telescopic device and the self-propelled belt tail section The relative height difference between the self-propelled belt telescopic device and the self-propelled belt tail section The relative offset angle between the self-propelled belt telescopic device and the self-propelled belt tail section ;

[0017] Step S5: Based on the obtained relative offset angle between the self-propelled belt telescopic device and the belt frame The width and length data of the self-propelled belt telescopic device are used to calculate the direction and amount of offset of the head and tail of the self-propelled belt telescopic device relative to the belt frame.

[0018] Step S6: Based on the obtained relative offset angle between the self-moving belt telescopic device and the tail of the self-moving belt conveyor. The width and length data of the self-moving belt tail are used to calculate the direction and amount of offset of the head and tail of the self-moving belt tail relative to the self-moving belt telescopic device.

[0019] Step S7: Based on the obtained relative distance and The numerical value, relative height difference and The numerical value and relative offset angle and The value is used to calculate the deflection angle of the belt self-moving machine tail relative to the belt frame. Height difference Relative distance ;

[0020] Step S8: Based on the deflection angle Height difference Relative distance The values ​​are used to calculate the direction and amount of offset between the head and tail of the self-moving belt conveyor relative to the belt frame;

[0021] Step S9: Upload the specific data of the obtained offset direction and offset amount in real time.

[0022] Preferably, the three-dimensional coordinates of key points on the belt conveyor are obtained in the following way:

[0023] Acquire image data of at least two pairs of symmetrically distributed idlers on the belt conveyor that are closest to the self-propelled belt telescopic device;

[0024] Obtain image data for each idler roller;

[0025] Extract the three-dimensional coordinates of each idler roller.

[0026] Preferably, the relative distance between the self-propelled belt telescopic device and the belt frame is... Relative height difference Relative offset angle Obtained through the following methods

[0027] The reference point is the position of the first-view camera, which is the origin of the coordinate system.

[0028] The coordinates of the central axis of the belt frame and the center point near the end of the self-moving belt telescopic device are calculated by using the X, Y, and Z axis coordinates of key points on the belt frame.

[0029] By comparing the central axis of the belt conveyor with the X-axis of the first vision camera, the relative offset angle between the self-moving belt telescopic device and the belt conveyor is calculated. ;

[0030] The relative distance between the self-propelled belt telescopic device and the belt frame is calculated using the coordinates of the center point. ;

[0031] The relative height difference between the self-propelled belt telescopic device and the belt frame is calculated using the Z-axis coordinate value of the center point. .

[0032] Preferably, the three-dimensional coordinates of key points on the tail of the self-propelled belt conveyor are obtained through the following method:

[0033] Acquire image data of at least two sets of idlers at the front end of the belt self-propelled machine tail section;

[0034] Obtain image data for each idler roller;

[0035] Extract the three-dimensional coordinates of each idler roller.

[0036] Preferably, the relative distance between the self-propelled belt telescopic device and the tail of the self-propelled belt conveyor... Relative height difference Relative offset angle Obtained through the following methods

[0037] The reference point is the position of the second visual camera, which serves as the origin of the coordinate system.

[0038] The coordinates of the center axis of the self-propelled belt tail and the center point near the end of the self-propelled belt extension device are calculated by using the X, Y, and Z axis coordinates of key points on the tail of the self-propelled belt conveyor.

[0039] By comparing the central axis of the belt conveyor with the X-axis of the second vision camera, the relative offset angle between the self-moving belt telescopic device and the self-moving tail of the belt conveyor is calculated. ;

[0040] The relative distance between the self-propelled belt telescopic device and the tail of the self-propelled belt conveyor is calculated using the coordinates of the center point. ;

[0041] The relative height difference between the self-propelled belt telescopic device and the tail of the self-propelled belt conveyor is calculated using the Z-axis coordinate value of the center point. .

[0042] Preferably, before acquiring image data of the belt conveyor and the self-moving tail of the belt conveyor, the intensity of the supplementary light is adjusted according to the ambient light.

[0043] Compared with existing technologies, the present invention provides a position detection system and method for a self-moving belt tail section and a self-moving belt telescopic device. Employing structured light binocular vision technology, it can simultaneously acquire multi-dimensional attitude information such as distance, height, and angle, far exceeding the capabilities of a single sensor, providing a comprehensive data foundation for automatic equipment adjustment. The combination of actively projected structured light and adaptive infrared illumination effectively overcomes harsh visual environments such as uneven lighting and dust in underground mines, ensuring image acquisition quality and recognition stability. Based on symmetrical idler groups for recognition, when some idlers are obscured, features such as belt frame edges or tail section side plates can be integrated for comprehensive calculation, improving the system's robustness and applicability. Attached Figure Description

[0044] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram showing the positions of the image acquisition unit, belt frame, self-moving belt telescopic device, and self-moving belt tail of the present invention.

[0046] Figure 2 This is a schematic diagram of the position detection system of the present invention.

[0047] Figure 3 This is a schematic diagram of the structure of the first vision camera and infrared fill light group of the present invention.

[0048] In the diagram: Explosion-proof housing 01, explosion-proof window 11, industrial control computer 02, image acquisition unit 03, first vision camera 31, second vision camera 32, power supply module 04, infrared fill light group 05, communication module 06, belt frame 07, self-moving belt telescopic device 08, belt self-moving tail 09. Detailed Implementation

[0049] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] In the description of this invention, it should be understood that the terms "upper", "middle", "outer", "inner", "lower", etc., which indicate orientation or positional relationship, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this invention.

[0051] Please refer to Figures 1 to 3 The present invention provides a self-moving belt tail and a self-moving belt telescopic device position detection system, including an explosion-proof housing 01 installed in the middle of the self-moving belt telescopic device 08, and an industrial control computer 02 and an image acquisition unit 03 built into the explosion-proof housing 01.

[0052] Among them, the two opposite side walls of the explosion-proof enclosure 01 are provided with explosion-proof windows 11;

[0053] The image acquisition unit 03 includes a first vision camera 31 and a second vision camera 32, which are respectively installed at two explosion-proof windows 11. The lens of the first vision camera 31 is directed through the explosion-proof window 11 toward the belt frame 07 to acquire images of the belt frame 07. The lens of the second vision camera 32 is directed through the explosion-proof window 11 toward the belt self-moving tail 09 to acquire images of the belt self-moving tail 09.

[0054] The industrial computer 02 is electrically connected to the first vision camera 31 and the second vision camera 32, and is used to process the acquired images and calculate relative position data. The industrial computer 02 can be a Siemens industrial computer, which employs open-loop and closed-loop control, visualization, measurement, data acquisition and management, and can be used for measurement, open-loop and closed-loop control, process and machine data inspection, and industrial image processing.

[0055] Correspondingly, a power supply module 04 is installed inside the explosion-proof enclosure 01, which can be used to provide power to the entire system. The power supply module 04 is electrically connected to the industrial control computer 02, the first vision camera 31, and the second vision camera 32.

[0056] Correspondingly, infrared fill light groups 05 are arranged around the first vision camera 31 and the second vision camera 32. The infrared fill light groups 05 are electrically connected to the power supply module 04 and the industrial control computer 02. The infrared fill light groups 05 can adaptively adjust the fill light intensity according to the ambient light intensity.

[0057] Correspondingly, a communication module 06 is provided on the explosion-proof enclosure 01 for transmitting the obtained relative position data to the outside. The communication module 06 can adopt an Ethernet interface or an RS485 interface.

[0058] A method for detecting the position of a self-moving belt conveyor tail section and a self-moving belt extension device, using a self-moving belt conveyor tail section and self-moving belt extension device position detection system, includes the following steps.

[0059] Step S1: The system is powered on and started. The infrared fill light is turned on and the light intensity is adjusted according to the ambient light to increase the quality of the captured images. The first vision camera and the second vision camera synchronously or asynchronously acquire image data of the belt frame and the self-moving tail of the belt.

[0060] Step S2: The industrial control computer receives the acquired image data and, based on image recognition, identifies the preset feature targets from the acquired image data.

[0061] Step S3: Based on the principle of structured light binocular vision, calculate the three-dimensional spatial coordinates of key points in the feature target.

[0062] Step S4: Obtain the three-dimensional coordinates of key points on the belt conveyor and the tail of the self-propelled belt conveyor. Calculate the relative distance between the self-propelled belt extension device and the belt conveyor through geometric fitting and coordinate transformation. The relative height difference between the self-propelled belt telescopic device and the belt frame The relative offset angle between the self-propelled belt telescopic device and the belt frame The relative distance between the self-propelled belt telescopic device and the self-propelled belt tail section The relative height difference between the self-propelled belt telescopic device and the self-propelled belt tail section The relative offset angle between the self-propelled belt telescopic device and the self-propelled belt tail section .

[0063] The three-dimensional coordinates of key points on the belt conveyor were obtained in the following way.

[0064] Acquire image data of at least two pairs of symmetrically distributed idlers on the belt conveyor that are closest to the self-propelled belt telescopic device;

[0065] Obtain image data for each idler roller and extract the three-dimensional coordinates of each idler roller as key points;

[0066] If any idler roller is blocked, image data of the two symmetrically distributed sets of idler rollers and the edge lines on both sides of the belt frame can be obtained;

[0067] The coordinate information of the edge lines on both sides of the two symmetrically distributed idlers and belt frames is identified and extracted as key points.

[0068] The three-dimensional coordinates of key points on the tail of the self-propelled belt conveyor were obtained in the following way.

[0069] Acquire image data of at least two sets of idlers at the front end of the belt self-propelled machine tail section;

[0070] Obtain image data for each idler roller and extract the three-dimensional coordinates of each idler roller;

[0071] If one side of the idler roller is blocked, image data of the exposed idler roller and the self-moving machine tail side plate can be obtained;

[0072] The coordinates of the exposed idler rollers and the coordinates of the self-moving tail side plate are identified and extracted as key points.

[0073] Step S5: Based on the obtained relative offset angle between the self-propelled belt telescopic device and the belt frame The width and length data of the self-propelled belt telescopic device are used to calculate the direction and amount of offset of the head and tail of the self-propelled belt telescopic device relative to the belt frame.

[0074] Step S6: Based on the obtained relative offset angle between the self-moving belt telescopic device and the tail of the self-moving belt conveyor. The width and length data of the self-moving belt tail are used to calculate the direction and amount of offset of the head and tail of the self-moving belt tail relative to the self-moving belt telescopic device.

[0075] Step S7: Based on the obtained relative distance and The numerical value, relative height difference and The numerical value and relative offset angle and The value is used to calculate the deflection angle of the belt self-moving machine tail relative to the belt frame. Height difference Relative distance ;

[0076] Step S8: Based on the deflection angle Height difference Relative distance The values ​​are used to calculate the direction and amount of offset between the head and tail of the self-moving belt conveyor relative to the belt frame;

[0077] Step S9: Upload the specific data of the obtained offset direction and offset amount in real time.

[0078] Specifically, the relative distance between the self-propelled belt telescopic device and the belt frame Relative height difference Relative offset angle Obtained through the following methods

[0079] The reference point is the position of the first-view camera, which is the origin of the coordinate system.

[0080] The coordinates of the central axis of the belt frame and the center point near the end of the self-moving belt telescopic device are calculated by using the X, Y, and Z axis coordinates of key points on the belt frame.

[0081] By comparing the central axis of the belt conveyor with the X-axis of the first vision camera, the relative offset angle between the self-moving belt telescopic device and the belt conveyor is calculated. ;

[0082] The relative distance between the self-propelled belt telescopic device and the belt frame is calculated using the coordinates of the center point. ;

[0083] The relative height difference between the self-propelled belt telescopic device and the belt frame is calculated using the Z-axis coordinate value of the center point. .

[0084] Specifically, the relative distance between the self-propelled belt telescopic device and the tail of the self-propelled belt conveyor. Relative height difference Relative offset angle Obtained through the following methods

[0085] The reference point is the position of the second visual camera, which serves as the origin of the coordinate system.

[0086] The coordinates of the center axis of the self-propelled belt tail and the center point near the end of the self-propelled belt extension device are calculated by using the X, Y, and Z axis coordinates of key points on the tail of the self-propelled belt conveyor.

[0087] By comparing the central axis of the belt conveyor with the X-axis of the second vision camera, the relative offset angle between the self-moving belt telescopic device and the self-moving tail of the belt conveyor is calculated. ;

[0088] The relative distance between the self-propelled belt telescopic device and the tail of the self-propelled belt conveyor is calculated using the coordinates of the center point. ;

[0089] The relative height difference between the self-propelled belt telescopic device and the tail of the self-propelled belt conveyor is calculated using the Z-axis coordinate value of the center point. .

[0090] The above-disclosed embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of the invention. Those skilled in the art will understand that implementing all or part of the above-described embodiments and making equivalent changes in accordance with the claims of the present invention are still within the scope of the invention.

Claims

1. A position detection system for a self-moving belt tail section and a self-moving belt telescopic device, characterized in that: It includes an explosion-proof enclosure installed in the middle of the self-propelled belt telescopic device, and an industrial control computer and image acquisition unit built into the explosion-proof enclosure; The explosion-proof enclosure has explosion-proof windows on two opposite side walls; The image acquisition unit includes a first vision camera and a second vision camera installed at two explosion-proof windows respectively; the lens of the first vision camera is directed through the explosion-proof window toward the belt frame to acquire images of the belt frame; the lens of the second vision camera is directed through the explosion-proof window toward the tail of the belt self-moving machine to acquire images of the tail of the belt self-moving machine. The industrial control computer is electrically connected to the first vision camera and the second vision camera, and is used to process the acquired images and calculate relative position data.

2. The belt self-moving tail section and self-moving belt telescopic device position detection system according to claim 1, characterized in that: The explosion-proof enclosure is equipped with a power supply module, which is electrically connected to the industrial control computer, the first vision camera, and the second vision camera.

3. The belt self-moving tail section and self-moving belt telescopic device position detection system according to claim 2, characterized in that: Infrared fill light groups are arranged around the first vision camera and the second vision camera. The infrared fill light groups are electrically connected to the power supply module and the industrial control computer. The infrared fill light groups can adaptively adjust the fill light intensity according to the ambient light intensity.

4. The belt self-moving tail section and self-moving belt telescopic device position detection system according to claim 3, characterized in that: The explosion-proof housing is equipped with a communication module for transmitting the obtained relative position data to the outside world.

5. A method for detecting the position of a self-moving belt tail section and a self-moving belt telescopic device, using the position detection system for a self-moving belt tail section and a self-moving belt telescopic device as described in any one of claims 1-4, characterized in that: Includes the following steps, Step S1: Acquire image data of the belt conveyor and the self-moving tail of the belt conveyor; Step S2: Based on image recognition, identify the preset feature targets from the acquired image data; Step S3: Based on the principle of structured light binocular vision, calculate the three-dimensional spatial coordinates of key points in the feature target; Step S4: Obtain the three-dimensional coordinates of key points on the belt conveyor and the tail of the self-propelled belt conveyor. Calculate the relative distance between the self-propelled belt extension device and the belt conveyor through geometric fitting and coordinate transformation. The relative height difference between the self-propelled belt telescopic device and the belt frame The relative offset angle between the self-propelled belt telescopic device and the belt frame The relative distance between the self-propelled belt telescopic device and the self-propelled belt tail section The relative height difference between the self-propelled belt telescopic device and the self-propelled belt tail section The relative offset angle between the self-propelled belt telescopic device and the self-propelled belt tail section ; Step S5: Based on the obtained relative offset angle between the self-propelled belt telescopic device and the belt frame The width and length data of the self-propelled belt telescopic device are used to calculate the direction and amount of offset of the head and tail of the self-propelled belt telescopic device relative to the belt frame. Step S6: Based on the obtained relative offset angle between the self-moving belt telescopic device and the tail of the self-moving belt conveyor. The width and length data of the self-moving belt tail are used to calculate the direction and amount of offset of the head and tail of the self-moving belt tail relative to the self-moving belt telescopic device. Step S7: Based on the obtained relative distance and The numerical value, relative height difference and The numerical value and relative offset angle and The value is used to calculate the deflection angle of the belt self-moving machine tail relative to the belt frame. Height difference Relative distance ; Step S8: Based on the deflection angle Height difference Relative distance The values ​​are used to calculate the direction and amount of offset between the head and tail of the self-moving belt conveyor relative to the belt frame; Step S9: Upload the specific data of the obtained offset direction and offset amount in real time.

6. The method for detecting the position of the self-moving tail section of a belt conveyor and the self-moving belt telescopic device according to claim 5, characterized in that: The three-dimensional coordinates of key points on the belt conveyor are obtained in the following way. Acquire image data of at least two pairs of symmetrically distributed idlers on the belt conveyor that are closest to the self-propelled belt telescopic device; Obtain image data for each idler roller; Extract the three-dimensional coordinates of each idler roller.

7. The method for detecting the position of the self-moving tail section of a belt conveyor and the self-moving belt telescopic device according to claim 6, characterized in that: The relative distance between the self-propelled belt extension device and the belt frame Relative height difference Relative offset angle Obtained through the following methods The reference point is the position of the first-view camera, which is the origin of the coordinate system. The coordinates of the central axis of the belt frame and the center point near the end of the self-moving belt telescopic device are calculated by using the X, Y, and Z axis coordinates of key points on the belt frame. By comparing the central axis of the belt conveyor with the X-axis of the first vision camera, the relative offset angle between the self-moving belt telescopic device and the belt conveyor is calculated. ; The relative distance between the self-propelled belt telescopic device and the belt frame is calculated using the coordinates of the center point. ; The relative height difference between the self-propelled belt telescopic device and the belt frame is calculated using the Z-axis coordinate value of the center point. .

8. The method for detecting the position of the self-moving tail section of a belt conveyor and the self-moving belt telescopic device according to any one of claims 5-7, characterized in that: The three-dimensional coordinates of key points on the tail of the self-propelled belt conveyor were obtained in the following way. Acquire image data of at least two sets of idlers at the front end of the belt self-propelled machine tail section; Obtain image data for each idler roller; Extract the three-dimensional coordinates of each idler roller.

9. The method for detecting the position of the self-moving tail section of a belt conveyor and the self-moving belt telescopic device according to claim 8, characterized in that: The relative distance between the self-propelled belt telescopic device and the tail of the self-propelled belt conveyor Relative height difference Relative offset angle Obtained through the following methods The reference point is the position of the second visual camera, which serves as the origin of the coordinate system. The coordinates of the center axis of the self-propelled belt tail and the center point near the end of the self-propelled belt extension device are calculated by using the X, Y, and Z axis coordinates of key points on the tail of the self-propelled belt conveyor. By comparing the central axis of the belt conveyor with the X-axis of the second vision camera, the relative offset angle between the self-moving belt telescopic device and the self-moving tail of the belt conveyor is calculated. ; The relative distance between the self-propelled belt telescopic device and the tail of the self-propelled belt conveyor is calculated using the coordinates of the center point. ; The relative height difference between the self-propelled belt telescopic device and the tail of the self-propelled belt conveyor is calculated using the Z-axis coordinate value of the center point. .

10. The method for detecting the position of the self-moving tail section of a belt conveyor and the self-moving belt telescopic device according to claim 5, characterized in that: Before acquiring image data of the belt conveyor and the self-moving tail of the belt conveyor, the intensity of the supplementary light is adjusted according to the ambient light.

Images