Belt self-moving tail and self-moving belt telescopic device cooperative control system and method

Abstract

The invention provides a cooperative control system and method for a belt self-moving tail and a self-moving belt telescopic device, and relates to the technical field of underground coal mine transportation equipment.The system comprises a visual detection system, a control system, a control system, a display system, a display system and a control system, and the visual detection system is used for detecting relative position information between the self-moving belt telescopic device and a belt frame and between the self-moving belt telescopic device and the belt self-moving tail; the detected relative position information is uploaded to a controller of the telescopic device control system and is synchronized to a controller of the self-moving tail control system; controllers of the telescopic device control system and the self-moving tail control system take the belt frame as a base point, and simultaneously perform deviation rectification adjustment on the self-moving belt telescopic device and the belt self-moving tail through respective electro-hydraulic control reversing valve groups according to relative position information; the self-moving belt telescopic device and the belt self-moving tail are sequentially pushed and adjusted; the controller is further used for giving a safety alarm through the audible and visual alarm in the pushing adjustment process. According to the scheme, manual repeated adjustment is not needed, and control precision and efficiency can be improved.

Description

Technical Field

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

[0002] In modern fully mechanized mining faces, belt conveyors are crucial equipment for coal transportation. As the face advances, the conveyor needs to complete its overall self-moving and telescopic adjustment via a self-moving tail section and a self-moving belt extension device. During this process, ensuring the correct relative positions (including distance, height, and angle) between the self-moving belt extension device, the front belt frame, and the rear self-moving tail section is paramount. The sequence, speed, and precision of adjustments during the adjustment process can all lead to belt misalignment, accelerated wear, or even equipment collisions, causing downtime.

[0003] Currently, the control methods for self-moving belt tail sections and self-moving belt telescopic devices are in the manual and semi-automatic control stage, and the two are controlled independently. This method requires manual operation, where personnel must simultaneously judge the relative position and adjustment status of the self-moving belt telescopic device and the self-moving belt tail section, necessitating repeated manual adjustments. This results in high labor intensity and low control accuracy and efficiency. Summary of the Invention

[0004] In view of this, and to address the above shortcomings, it is necessary to provide a coordinated control system and method for a self-moving belt tail section and a self-moving belt telescopic device.

[0005] In a first aspect, the present invention provides a coordinated control system for a self-moving belt tail section and a self-moving belt telescopic device, comprising: a vision detection system, a telescopic device control system disposed on the self-moving belt telescopic device, and a self-moving tail section control system disposed on the self-moving belt tail section; both the telescopic device control system and the self-moving tail section control system comprise: a controller, an audible and visual alarm, and an electro-hydraulic directional valve assembly, wherein the audible and visual alarm and the electro-hydraulic directional valve assembly are communicatively connected to the controller of the corresponding control system; the controllers in the telescopic device control system and the self-moving tail section control system are communicatively connected to each other;

[0006] The visual inspection system is installed on the body of the self-moving belt telescopic device and is communicatively connected to the controller of the telescopic device control system. It is used to detect the relative position information between the self-moving belt telescopic device and the belt frame and the self-moving tail of the belt, and upload the detected relative position information to the controller of the telescopic device control system, and transmit it from the controller of the telescopic device control system to the controller of the self-moving tail control system.

[0007] Both the telescopic device control system and the self-moving tail control system use the belt frame as the base point. Based on the relative position information, they simultaneously adjust the self-moving belt telescopic device and the self-moving belt tail through their respective electro-hydraulic directional valve groups, and sequentially adjust the self-moving belt telescopic device and the self-moving belt tail. The controller is also used to stop the pushing process and trigger an alarm via an audible and visual alarm when the relative position between the devices is less than a warning threshold during the pushing adjustment process.

[0008] Preferably, the visual inspection system includes an explosion-proof enclosure, an industrial computer, a first visual camera, and a second visual camera;

[0009] The explosion-proof enclosure is installed in the middle of the self-moving belt telescopic device. The industrial control computer, the first vision camera, and the second vision camera are built into the explosion-proof enclosure. Explosion-proof windows are provided on two opposite side walls of the explosion-proof enclosure, and two explosion-proof windows are installed at two different locations. The lens of the first vision camera is directed towards the belt frame through the explosion-proof window to capture images of the belt frame. The lens of the second vision camera is directed towards the tail of the self-moving belt through the explosion-proof window to capture images of the tail of the self-moving belt.

[0010] The industrial control computer is electrically connected to the first vision camera and the second vision camera respectively, and is used to process the acquired images and calculate the relative position information.

[0011] 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 industrial control computer and are used to adaptively adjust the light intensity according to the ambient light intensity.

[0012] Preferably, both the telescopic device control system and the self-moving tail control system further include: a personnel proximity sensor; the personnel proximity sensor is installed on the self-moving tail of the belt conveyor and the self-moving belt telescopic device, and is electrically connected to the controller of the corresponding control system, so as to detect the approach of personnel on both sides and in front of and behind the equipment, and upload the collected personnel proximity data to the corresponding controller; during the correction or shifting adjustment process, if any controller determines that a person is approaching at a distance less than a preset safe distance based on the personnel proximity sensor, it controls the audible and visual alarm to sound an alarm and stops the machine.

[0013] Preferably, both the telescopic device control system and the self-moving tail control system further include a displacement sensor, a pressure sensor, and a tilt sensor, and the displacement sensor, pressure sensor, and tilt sensor are all communicatively connected to the controller of the corresponding control system.

[0014] The displacement sensor, pressure sensor, and tilt sensor are used to detect the operating status of the equipment and upload the collected operating status data to the controller of the corresponding control system, so that the controller can perform correction and adjustment based on the relative position information.

[0015] Secondly, the present invention provides a method for coordinated control of a self-moving belt tail section and a self-moving belt telescopic device, using a coordinated control system of a self-moving belt tail section and a self-moving belt telescopic device as described in any of the first aspects, defining the controller of the telescopic device control system as a first controller and the controller of the self-moving tail section control system as a second controller, the method comprising the following steps:

[0016] S1: The relative position information between the self-moving belt telescopic device, the belt frame, and the tail of the self-moving belt is detected by the vision detection system, and the relative position information is sent to the first controller. At the same time, the first controller shares the relative position information with the second controller in real time. The relative position information includes: relative distance, relative tilt angle, and relative height difference.

[0017] S2: Based on the relative tilt angle, the first controller and the second controller simultaneously control the self-moving belt extension device and the self-moving belt tail to perform the first correction adjustment through their respective electro-hydraulic directional valve groups, with the belt frame as the base point.

[0018] S3: After the first correction adjustment is completed, the first controller and the second controller, based on the relative distance, control the self-moving belt extension device and the self-moving belt tail to push and adjust in sequence through their respective electro-hydraulic directional valve groups.

[0019] S4: After the shift adjustment is completed, the first controller and the second controller read the current relative position information between the self-moving belt telescopic device, the belt frame, and the self-moving tail of the belt obtained by the vision detection system again;

[0020] S5: Based on the relative tilt angle in the current relative position information, the first controller and the second controller, with the belt frame as the base point, simultaneously control the self-moving belt extension device and the self-moving belt tail to perform a second correction adjustment through their respective electro-hydraulic directional valve groups.

[0021] S6: After the second correction is completed, the first controller and the second controller, based on the relative height difference, use the height of the belt frame as the reference point to lift the self-moving belt telescopic device and the self-moving tail of the belt.

[0022] Preferably, in step S1, the visual detection system detects relative position information including:

[0023] S11: The first vision camera and the second vision camera acquire image data of the belt conveyor and the belt self-moving tail section;

[0024] S12: The industrial control computer receives the acquired image data and identifies the preset feature targets based on image recognition;

[0025] S13: Based on the principle of structured light binocular vision, calculate the three-dimensional spatial coordinates of key points in the feature target;

[0026] S14: 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 using geometric relationships. The relative height difference between the self-propelled belt telescopic device and the belt frame The relative tilt 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 tilt angle between the self-propelled belt telescopic device and the self-propelled belt tail section .

[0027] Preferably, both the first controller and the second controller acquire personnel proximity data uploaded by the corresponding personnel proximity sensors in real time, and when either the first controller or the second controller determines that the personnel proximity distance is less than the preset safe distance, the control device stops and an alarm is triggered by an audible and visual alarm.

[0028] Preferably, during the moving process, both the first controller and the second controller read the relative position information between the current belt frame, the self-moving telescopic frame, and the self-moving tail of the belt conveyor in real time through the vision detection system. When the distance between any two is less than a preset warning threshold, the control device stops the moving process and issues an alarm through an audible and visual alarm. Furthermore, if the offset angle is greater than a preset offset threshold during the moving process, the moving is stopped to perform a correction operation, and the moving continues after the correction.

[0029] Preferably, after the fuselage lifting operation is completed, the following further includes:

[0030] Based on the angle value read by the tilt sensor, the displacement values ​​of each displacement sensor in the oil cylinder are raised to perform combined leveling of the self-moving belt extension device and the self-moving belt tail.

[0031] As can be seen from the above technical solution, the coordinated control system and method for the self-moving belt tail section and the self-moving belt telescopic device provided by the present invention includes a vision detection system, a telescopic device control system, and a self-moving tail section control system. The telescopic device control system and the self-moving tail section control system specifically include a controller, an audible and visual alarm, and an electro-hydraulic directional valve group. Specifically, during coordinated control, the vision detection system first detects the relative position information between the self-moving belt telescopic device, the belt frame, and the self-moving belt tail section, and sends this relative position information to the first controller. Simultaneously, the first controller shares this relative position information with the second controller in real time. Then, based on the relative tilt angle and using the belt frame as a base point, the first and second controllers simultaneously control the self-moving belt telescopic device and the self-moving belt tail section through their respective electro-hydraulic directional valve groups to perform the first correction adjustment. Further, after the first correction adjustment is completed, the first and second controllers, based on the relative distance, sequentially control the self-moving belt telescopic device through their respective electro-hydraulic directional valve groups. The self-moving belt telescopic device and the self-moving belt tail are adjusted by pushing and moving them. After the adjustment is completed, the first and second controllers read the current relative position information between the self-moving belt telescopic device, the belt frame, and the self-moving belt tail from the vision detection system. Further, based on the relative tilt angle in the current relative position information, the first and second controllers, using the belt frame as a base point, simultaneously control the self-moving belt telescopic device and the self-moving belt tail through their respective electro-hydraulic directional valve groups to perform a second correction adjustment. After the second correction is completed, the first and second controllers, based on the relative height difference, use the height of the belt frame as a base point to lift the self-moving belt telescopic device and the self-moving belt tail. In this way, through vision and multi-sensor fusion technology, coordinated control of the self-moving belt tail and the self-moving belt telescopic device is achieved. This eliminates the need for repeated manual adjustments, freeing up manpower and improving control accuracy and efficiency. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of a coordinated control system for a self-moving belt tail section and a self-moving belt telescopic device, provided in an embodiment of the present invention.

[0033] Figure 2 This is a schematic diagram showing the positions of the image acquisition unit, the belt frame, the self-moving belt telescopic device, and the self-moving tail of the belt in an embodiment of the present invention.

[0034] Figure 3 This is a schematic diagram of the structure of the visual inspection system of the present invention.

[0035] Figure 4 This is a schematic diagram of the structure of the first vision camera and infrared fill light group in an embodiment of the present invention.

[0036] Figure 5 This is a flowchart illustrating a method for coordinated control of a self-moving belt tail section and a self-moving belt telescopic device, provided in an embodiment of the present invention.

[0037] 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

[0038] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] like Figure 1 As shown, the present invention provides a coordinated control system for a self-moving belt tail section and a self-moving belt telescopic device, comprising: a vision detection system, a telescopic device control system disposed on the self-moving belt telescopic device, and a self-moving tail section control system disposed on the self-moving belt tail section; both the telescopic device control system and the self-moving tail section control system include: a controller, an audible and visual alarm, and an electro-hydraulic directional valve assembly, wherein the audible and visual alarm and the electro-hydraulic directional valve assembly are communicatively connected to the controller of the corresponding control system; the controllers in the telescopic device control system and the self-moving tail section control system are communicatively connected to each other;

[0040] The visual inspection system is installed on the body of the self-moving belt telescopic device and is communicatively connected to the controller of the telescopic device control system. It is used to detect the relative position information between the self-moving belt telescopic device and the belt frame and the self-moving tail of the belt, and upload the detected relative position information to the controller of the telescopic device control system, and transmit it from the controller of the telescopic device control system to the controller of the self-moving tail control system.

[0041] Both the telescopic device control system and the self-moving tail control system use the belt frame as the base point. Based on the relative position information, they simultaneously adjust the self-moving belt telescopic device and the self-moving belt tail through their respective electro-hydraulic directional valve groups, and sequentially adjust the self-moving belt telescopic device and the self-moving belt tail. The controller is also used to stop the pushing process and trigger an alarm via an audible and visual alarm when the relative position between the devices is less than a warning threshold during the pushing adjustment process.

[0042] In one embodiment, such as Figure 2-4As shown, the vision inspection system may include an explosion-proof housing 01, an industrial control computer 02, and an image acquisition unit 03. The image acquisition unit 03 specifically includes a first vision camera 31 and a second vision camera 32.

[0043] The explosion-proof housing 01 is installed in the middle of the self-moving belt telescopic device 08. The industrial control computer 02, the first vision camera 31, and the second vision camera 32 are built into the explosion-proof housing 01. Explosion-proof windows 11 are provided on two opposite side walls of the explosion-proof housing 01, and the two explosion-proof windows 11 are respectively installed at two explosion-proof windows 11. The lens of the first vision camera 31 is directed towards the belt frame 07 through the explosion-proof window 11 to capture images of the belt frame 07. The lens of the second vision camera 32 is directed towards the self-moving belt tail 09 through the explosion-proof window 11 to capture images of the self-moving belt tail 09.

[0044] The industrial control computer 02 is electrically connected to the first vision camera 31 and the second vision camera 32, respectively, and is used to process the acquired images and calculate relative position information. The industrial control 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.

[0045] 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.

[0046] Furthermore, infrared fill light groups 05 can be set 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, and are used to adaptively adjust the fill light intensity according to the ambient light intensity.

[0047] In addition, a communication module 06 can be installed on the explosion-proof enclosure 01 to transmit the obtained relative position data to external devices. The communication module 06 can use an Ethernet interface or an RS485 interface.

[0048] In one embodiment, both the telescopic device control system and the self-moving tail control system further include: a personnel proximity sensor; the personnel proximity sensor is installed on the self-moving tail of the belt 09 and the self-moving belt telescopic device 08, and is electrically connected to the controller of the corresponding control system, so as to detect the approach of personnel on both sides and in front and behind the equipment, and upload the collected personnel proximity data to the corresponding controller; during the correction or shifting adjustment process, if any controller determines that a person is approaching at a distance less than a preset safe distance based on the personnel proximity sensor, it controls the audible and visual alarm to sound an alarm and stops the machine.

[0049] In addition, both the telescopic device control system and the self-moving tail control system include displacement sensors, pressure sensors and tilt sensors, and the displacement sensors, pressure sensors and tilt sensors are all connected in communication with the controllers of the corresponding control systems.

[0050] The displacement sensor, pressure sensor, and tilt sensor are used to detect the operating status of the equipment and upload the collected operating status data to the controller of the corresponding control system, so that the controller can perform correction and adjustment based on the relative position information.

[0051] The displacement sensor is installed in the lifting cylinder of each device, the pressure sensor monitors the working pressure of the hydraulic cylinder in the hydraulic circuit, and the tilt sensor is installed at the head and tail of each device to monitor the tilt angle of the X and Y axes of the device.

[0052] In one embodiment, the controller is an intrinsically safe controller for mining, which can receive signals from its own buttons, controller signals, and remote control signals, and realize manual, remote control, remote control, and coordinated pushing control of the self-moving tail of the belt conveyor 09 and the self-moving belt extension device 08.

[0053] When performing coordinated control of the self-moving belt tail section 09 and the self-moving belt extension device 08, such as Figure 5 As shown, this can be achieved through the following steps; wherein, the controller of the telescopic device control system is defined as the first controller, and the controller of the self-moving tail control system is defined as the second controller. The method may include the following steps:

[0054] S1: The relative position information between the self-moving belt telescopic device 08, the belt frame 07, and the self-moving belt tail 09 is detected by the vision detection system, and the relative position information is sent to the first controller. At the same time, the first controller shares the relative position information with the second controller in real time. The relative position information includes: relative distance, relative tilt angle, and relative height difference.

[0055] In this step, when the visual inspection system detects relative position information, it may specifically include:

[0056] S11: The first vision camera 31 and the second vision camera 32 acquire image data of the belt frame 07 and the belt self-moving tail 09;

[0057] S12: The industrial computer 02 receives the acquired image data and identifies the preset feature targets based on image recognition;

[0058] S13: Based on the principle of structured light binocular vision, calculate the three-dimensional spatial coordinates of key points in the feature target;

[0059] S14: Obtain the three-dimensional coordinates of key points on the belt conveyor 07 and the self-moving belt tail section 09. Calculate the relative distance between the self-moving belt extension device 08 and the belt conveyor 07 using geometric relationships. The relative height difference between the self-propelled belt telescopic device 08 and the belt frame 07 The relative tilt angle between the self-propelled belt telescopic device 08 and the belt frame 07 The relative distance between the self-propelled belt telescopic device 08 and the self-propelled belt tail 09 The relative height difference between the self-propelled belt telescopic device 08 and the self-propelled belt tail 09 The relative tilt angle between the self-propelled belt telescopic device 08 and the self-propelled belt tail 09 .

[0060] In this embodiment, the method for obtaining the three-dimensional coordinates of key points on the belt frame 07 may include: firstly, obtaining image data of at least two sets of idlers symmetrically distributed on the belt frame 07 that are closest to the self-moving belt extension device 08; then obtaining image data of each idler and extracting the three-dimensional coordinates of each idler as key points; furthermore, if an idler is obscured, image data of the two symmetrically distributed sets of idlers and the edge lines on both sides of the belt frame 07 can be obtained; finally, the coordinate information of the two symmetrically distributed sets of idlers and the edge lines on both sides of the belt frame 07 is identified and extracted as key points.

[0061] In one embodiment, the relative distance between the self-moving belt extension device 08 and the belt frame 07 is... Relative height difference Relative offset angle Obtained through the following methods

[0062] The reference point is the position of the first visual camera 31, which is the origin of the coordinate system.

[0063] The coordinates of the central axis of the belt frame 07 and the center point near the end of the self-moving belt telescopic device 08 are calculated using the X, Y, and Z axis coordinates of key points on the belt frame 07.

[0064] By comparing the central axis of the belt carrier 07 with the X-axis of the first vision camera 31, the relative offset angle between the self-moving belt telescopic device 08 and the belt carrier 07 is calculated. ;

[0065] The relative distance between the self-propelled belt telescopic device 08 and the belt frame 07 was calculated using the coordinates of the center point. ;

[0066] The relative height difference between the self-propelled belt telescopic device 08 and the belt frame 07 is calculated using the Z-axis coordinate value of the center point. .

[0067] Accordingly, the method for obtaining the three-dimensional coordinates of key points on the self-propelled belt tail 09 may include: first, obtaining image data of at least two sets of idlers at the front of the self-propelled belt tail 09; then obtaining image data of each idler and extracting the three-dimensional coordinates of each idler; further, if one idler is obscured, image data of the exposed idler and the self-propelled belt tail side plate can be obtained; finally, the coordinates of the exposed idler and the coordinate information of the self-propelled belt tail side plate are identified and extracted as key points.

[0068] In one embodiment, the relative distance between the self-moving belt extension device 08 and the self-moving belt tail 09 is... Relative height difference Relative offset angle Obtained through the following methods

[0069] The reference point is the position of the second visual camera 32, which is the origin of the coordinate system.

[0070] The coordinates of the center axis of the self-moving belt tail 09 and the center point near the end of the self-moving belt extension device 08 are calculated by using the X, Y, and Z axis coordinates of key points on the self-moving belt tail 09.

[0071] By comparing the central axis of the belt conveyor 07 with the X-axis of the second vision camera 32, the relative offset angle between the self-moving belt telescopic device 08 and the self-moving belt tail 09 is calculated. ;

[0072] The relative distance between the self-propelled belt telescopic device 08 and the self-propelled belt tail 09 was calculated using the center point coordinates. ;

[0073] The relative height difference between the self-propelled belt telescopic device 08 and the self-propelled belt tail 09 is calculated using the Z-axis coordinate value of the center point. .

[0074] S2: Based on the relative tilt angle, the first controller and the second controller simultaneously control the self-moving belt extension device 08 and the self-moving belt tail 09 to perform the first correction adjustment through their respective electro-hydraulic directional valve groups, with the belt frame 07 as the base point.

[0075] In this step, when the control system needs to achieve coordinated pushing control, the controller first calculates the position values ​​that the self-moving tail of the belt and the head and tail cylinders of the self-moving telescopic device need to be adjusted based on the relative tilt angle values ​​in the relative position coordinate relationship between the belt frame 07, the self-moving telescopic device and the self-moving tail of the belt provided by the vision inspection system. Then, in accordance with the principle of ensuring that the relative tilt angle of the three gradually decreases, the tilt angle of the equipment gradually decreases and no collision occurs during the operation, the adjustment sequence is planned and the control adjustment is carried out in accordance with the principle of correction → pushing → correction → leveling. During the correction process, the belt frame 07 is used as the base point for correction. The specific process is as follows: Correction is performed based on the offset angle (the self-moving belt tail 09 and the self-moving belt extension device 08 operate simultaneously) → Verify if the correction is in place → If the correction is in place, stop the correction adjustment → If the correction is not in place, record the machine height and control the machine to descend (only control the equipment that has not completed the correction adjustment between the self-moving belt tail 09 and the self-moving belt extension device 08; if both need to be raised and lowered simultaneously, they should be raised and lowered together to avoid large fluctuations) → Control the slipper to adjust to its maximum stroke in the offset direction → Control the machine to rise to its original height → Perform correction adjustment control again. Because the side-shifting cylinder stroke of the equipment is limited, multiple adjustments can be made when the relative offset angle of the equipment is too large. When the relative positions of the three are centered, the first correction adjustment control is completed.

[0076] S3: After the first correction adjustment is completed, the first controller and the second controller, according to the relative distance, control the self-moving belt telescopic device 08 and the self-moving belt tail 09 to push and adjust them in sequence through their respective electro-hydraulic directional valve groups.

[0077] In this step, the self-moving belt telescopic device 08 and the self-moving belt tail 09 complete the pushing process in sequence. During the pushing process, the controller reads the relative positional relationship between the belt frame 07, the self-moving telescopic frame and the self-moving belt tail 09 in real time. If the distance between the two is less than the set value, the pushing process should be stopped and an alarm should be triggered to prevent collision. If the deviation of the three is within the set range, it can be ignored. If the deviation angle exceeds the set value during the pushing process, the pushing process should be stopped and a correction operation should be performed. After correction, the pushing process should continue until the specific position value is reached and the pushing process is completed.

[0078] S4: After the push adjustment is completed, the first controller and the second controller read again the current relative position information between the self-moving belt telescopic device 08, the belt frame 07, and the self-moving belt tail 09 obtained by the vision detection system;

[0079] S5: Based on the relative tilt angle in the current relative position information, the first controller and the second controller, with the belt frame 07 as the base point, simultaneously control the self-moving belt extension device 08 and the self-moving belt tail 09 through their respective electro-hydraulic directional valve groups to perform a second correction adjustment.

[0080] In this step, after the device is moved into place, the controller reads the relative position data between the belt frame 07, the self-moving telescopic frame, and the belt self-moving tail 09 again. Based on the relative tilt angle in the position data, the controller performs the correction operation again with the belt frame 07 as the base point.

[0081] S6: After the second correction is completed, the first controller and the second controller, based on the relative height difference, use the height of the belt frame 07 as the reference point to lift the self-moving belt telescopic device 08 and the self-moving belt tail 09.

[0082] S7: After the machine body lifting operation is completed, the displacement values ​​of each displacement sensor in the lifting cylinder are raised according to the angle value read by the tilt sensor, and the self-moving belt extension device and the self-moving belt tail 09 are combined for leveling.

[0083] In this step, after the correction operation is completed, the machine body is raised based on the relative height value, with the height of the belt frame 07 as the reference point. When the machine body is raised, the machine body is leveled in combination with the angle value of the tilt sensor and the displacement value in the lifting cylinder. After the leveling is completed, the entire coordinated pushing operation is completed.

[0084] Furthermore, the pressure and displacement values ​​of the control cylinder can be used as basic parameters. The cylinder control speed can be calculated by the change in the cylinder position value. The speed before the control cylinder stops, the cylinder pressure, and the displacement deviation from the issuance of the stop command to the actual stop are recorded during each cylinder adjustment and control process. This recorded data is stored in a database as a reference for subsequent cylinder adjustment and control. During precise cylinder adjustment and control, the timing of issuing the cylinder stop command can be adaptively determined based on the cylinder pressure, cylinder speed, and historical data, ensuring precise cylinder control.

[0085] The present invention also provides a computing device, including a memory and a processor, wherein the memory stores executable code, and when the processor executes the executable code, it runs the method as described in the above embodiments.

[0086] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the method as described in any of the above embodiments.

[0087] The modules or units in the device of this invention can be merged, divided, and deleted according to actual needs. 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 processes of the above embodiments and making equivalent changes according to the claims of this invention still fall within the scope of the invention.

Claims

1. A coordinated control system for a self-moving belt tail section and a self-moving belt telescopic device, characterized in that, include: A visual inspection system, a telescopic device control system installed on a self-moving belt telescopic device, and a self-moving tail control system installed on the self-moving tail of a belt conveyor; Both the telescopic device control system and the self-moving tail control system include: a controller, an audible and visual alarm, and an electro-hydraulic directional valve assembly, and the audible and visual alarm and the electro-hydraulic directional valve assembly are communicatively connected to the controller of the corresponding control system; the controllers in the telescopic device control system and the self-moving tail control system are communicatively connected to each other. The visual inspection system is installed on the body of the self-moving belt telescopic device and is communicatively connected to the controller of the telescopic device control system. It is used to detect the relative position information between the self-moving belt telescopic device and the belt frame and the self-moving tail of the belt, and upload the detected relative position information to the controller of the telescopic device control system, and transmit it from the controller of the telescopic device control system to the controller of the self-moving tail control system. Both the telescopic device control system and the self-moving tail control system use the belt frame as the base point. Based on the relative position information, they simultaneously adjust the self-moving belt telescopic device and the self-moving belt tail through their respective electro-hydraulic directional valve groups, and sequentially adjust the self-moving belt telescopic device and the self-moving belt tail. The controller is also used to stop the pushing process and trigger an alarm via an audible and visual alarm when the relative position between the devices is less than a warning threshold during the pushing adjustment process.

2. The coordinated control system for the self-moving tail section of the belt conveyor and the self-moving belt telescopic device according to claim 1, characterized in that, The visual inspection system includes an explosion-proof enclosure, an industrial computer, a first visual camera, and a second visual camera. The explosion-proof enclosure is installed in the middle of the self-moving belt telescopic device. The industrial control computer, the first vision camera, and the second vision camera are built into the explosion-proof enclosure. Explosion-proof windows are provided on two opposite side walls of the explosion-proof enclosure, and the two explosion-proof windows are installed at the two explosion-proof window locations respectively. The lens of the first vision camera is directed towards the belt conveyor through the explosion-proof window to capture images of the belt conveyor; the lens of the second vision camera is directed towards the tail of the self-moving belt conveyor through the explosion-proof window to capture images of the tail of the self-moving belt conveyor. The industrial control computer is electrically connected to the first vision camera and the second vision camera respectively, and is used to process the acquired images and calculate the relative position information.

3. The coordinated control system of the self-moving belt tail section and the self-moving belt telescopic device according to claim 2, characterized in that, Infrared supplementary light groups are arranged around the first vision camera and the second vision camera. These infrared supplementary light groups are electrically connected to the industrial control computer and are used to adaptively adjust the light intensity according to the ambient light intensity.

4. The coordinated control system of the self-moving belt tail section and the self-moving belt telescopic device according to claim 1, characterized in that, Both the telescopic device control system and the self-moving tail control system include: a personnel proximity sensor; the personnel proximity sensor is installed on the self-moving tail of the belt conveyor and the self-moving belt telescopic device, and is electrically connected to the controller of the corresponding control system, so as to detect the approach of personnel on both sides and in front and behind the equipment, and upload the collected personnel proximity data to the corresponding controller; during the correction or shifting adjustment process, if any controller determines that a person is approaching at a distance less than the preset safe distance based on the personnel proximity sensor, it controls the audible and visual alarm to sound and stops the machine.

5. The coordinated control system of the self-moving belt tail section and the self-moving belt telescopic device according to claim 1, characterized in that, The telescopic device control system and the self-moving tail control system both include displacement sensors, pressure sensors and tilt sensors, and the displacement sensors, pressure sensors and tilt sensors are all communicatively connected to the controllers of the corresponding control systems. The displacement sensor, pressure sensor, and tilt sensor are used to detect the operating status of the equipment and upload the collected operating status data to the controller of the corresponding control system, so that the controller can perform correction and adjustment based on the relative position information.

6. A method for coordinated control of a self-moving belt tail section and a self-moving belt telescopic device, characterized in that, Using the self-moving tail section and self-moving belt telescopic device coordinated control system as described in any one of claims 1-5, the controller of the telescopic device control system is defined as the first controller, and the controller of the self-moving tail section control system is defined as the second controller. The method includes the following steps: S1: The relative position information between the self-moving belt telescopic device, the belt frame, and the tail of the self-moving belt is detected by the vision detection system, and the relative position information is sent to the first controller. At the same time, the first controller shares the relative position information with the second controller in real time. The relative position information includes: relative distance, relative tilt angle, and relative height difference. S2: Based on the relative tilt angle, the first controller and the second controller simultaneously control the self-moving belt extension device and the self-moving belt tail to perform the first correction adjustment through their respective electro-hydraulic directional valve groups, with the belt frame as the base point. S3: After the first correction adjustment is completed, the first controller and the second controller, based on the relative distance, control the self-moving belt extension device and the self-moving belt tail to push and adjust in sequence through their respective electro-hydraulic directional valve groups. S4: After the shift adjustment is completed, the first controller and the second controller read the current relative position information between the self-moving belt telescopic device, the belt frame, and the self-moving tail of the belt obtained by the vision detection system again; S5: Based on the relative tilt angle in the current relative position information, the first controller and the second controller, with the belt frame as the base point, simultaneously control the self-moving belt extension device and the self-moving belt tail to perform a second correction adjustment through their respective electro-hydraulic directional valve groups. S6: After the second correction is completed, the first controller and the second controller, based on the relative height difference, use the height of the belt frame as the reference point to lift the self-moving belt telescopic device and the self-moving tail of the belt.

7. The method for coordinated control of the self-moving tail section of the belt conveyor and the self-moving belt telescopic device according to claim 6, characterized in that, In step S1, the visual inspection system detects relative position information including: S11: The first vision camera and the second vision camera acquire image data of the belt conveyor and the belt self-moving tail section; S12: The industrial control computer receives the acquired image data and identifies the preset feature targets based on image recognition; S13: Based on the principle of structured light binocular vision, calculate the three-dimensional spatial coordinates of key points in the feature target; S14: 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 using geometric relationships. The relative height difference between the self-propelled belt telescopic device and the belt frame The relative tilt angle between the self-propelled belt telescopic device and the belt frame The relative distance between the self-propelled belt telescopic device and the tail of the self-propelled belt conveyor. The relative height difference between the self-propelled belt telescopic device and the self-propelled belt tail section The relative tilt angle between the self-propelled belt telescopic device and the self-propelled belt tail section .

8. The method for coordinated control of the self-moving tail section of the belt conveyor and the self-moving belt telescopic device according to claim 6, characterized in that, Both the first controller and the second controller acquire personnel proximity data uploaded by their corresponding connected personnel proximity sensors in real time. When either the first controller or the second controller determines that the personnel approach distance is less than the preset safe distance, the control device stops and an alarm is triggered by an audible and visual alarm.

9. The method for coordinated control of the self-moving tail section of the belt conveyor and the self-moving belt telescopic device according to claim 6, characterized in that, During the moving process, both the first controller and the second controller read the relative position information between the current belt frame, the self-moving telescopic frame and the tail of the belt self-moving machine in real time through the vision detection system. When the distance between any two is less than the preset warning threshold, the control equipment stops the moving process and alarms are triggered by the sound and light alarm. Furthermore, if the offset angle exceeds the preset offset threshold during the shifting process, the shifting will be stopped and a correction operation will be performed. The shifting will then continue after the correction is completed.

10. The method for coordinated control of the self-moving tail section of the belt conveyor and the self-moving belt telescopic device according to claim 6, characterized in that, After the fuselage lifting operation is completed, the following further steps are included: Based on the angle value read by the tilt sensor, the displacement values ​​of each displacement sensor in the oil cylinder are raised to perform combined leveling of the self-moving belt extension device and the self-moving belt tail.

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