An intelligent coal conveying system with self-adaptive continuous corner in underground roadway
By constructing a three-dimensional model of the underground roadway and dynamically adjusting the height and angle of the idler rollers, the problem of coal deviation in continuous corner sections of the underground roadway was solved, thereby improving the stability and efficiency of coal transportation and ensuring safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- INNER MONGOLIA MANSHI COAL GRP CANZIGOU COAL CO LTD
- Filing Date
- 2026-04-24
- Publication Date
- 2026-07-03
AI Technical Summary
Existing technologies are prone to coal deviation and spillage when facing continuous corners in underground roadways, leading to resource waste and safety hazards. Furthermore, the correction is not precise, affecting production efficiency and safety.
A three-dimensional model is constructed using a data acquisition module, and related sections are divided using a coal distribution analysis module. Combined with a roller height adjustment module and a deviation identification module, dynamic adjustment of roller height and angle is achieved to ensure the stability and precise correction of the conveyor belt at corner sections.
It improved the stability and efficiency of coal transportation, reduced coal spillage and equipment wear, and ensured the safe and efficient operation of the coal conveying equipment.
Smart Images
Figure CN122101740B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of underground belt conveyor technology, and specifically to an intelligent coal conveying system for adaptive continuous angle turning in underground roadways. Background Technology
[0002] With economic development, the demand for coal energy has increased, making mining efficiency and safety key concerns. Traditional belt conveyor systems have revealed many problems when facing complex terrain and changing angles, such as coal spillage and belt misalignment. These problems not only affect production efficiency but also pose safety hazards. Therefore, developing coal conveying technology that can adapt to continuous cornering of roadways has become crucial for improving coal mine production efficiency.
[0003] Existing technologies, such as Chinese Patent Publication No. CN112193867A, disclose an underground dust-proof and anti-clogging coal conveying device and its implementation method. It uses a fixed frame, a columnar support, a rotating wheel, a spring, and a scraper. The cooperation between the fixed frame and the columnar support makes the coal conveying device stable during transportation. The cooperation between the spring and the rubber pad helps to reduce the pressure of the coal mine on the conveyor belt, increase the stability of the conveyor belt, increase the functionality of the coal conveying device, and improve the use effect of the coal mine coal conveying device.
[0004] Chinese Patent Publication No. CN119038094A discloses an automatic deviation correction method for coal conveying belts in a coal conveying system. It classifies deviation faults by calculating the edge coordinate information, analyzes the force on the conveyor belt in static and dynamic states, applies a soft attention mechanism to image classification, and processes images acquired by image acquisition devices installed at appropriate locations in the coal conveying system to accurately determine deviation and correct deviation.
[0005] However, the existing technology has the following problems: 1. The existing technology uses a fixed height to achieve stable transportation, without taking into account that the coal will be deflected and spilled due to centrifugal force in the continuous corner section. This will cause coal to scatter and waste coal resources during transportation. It may also cause safety hazards such as conveyor belt jamming and increased wear due to the accumulation of fallen coal, which will affect the continuity and efficiency of production.
[0006] 2. Existing technologies process images of the collected conveying device to determine deviation and correct deviation. However, they ignore the impact of uneven coal distribution on the accuracy of deviation correction, resulting in a discrepancy between the deviation correction command and the actual deviation correction effect. Consequently, the deviation correction result cannot accurately match the actual deviation, making it difficult to achieve real-time and precise control. Summary of the Invention
[0007] This invention aims to address the shortcomings of existing technologies by providing an adaptive continuous angle intelligent coal conveying system for underground roadways, which can improve transportation efficiency and safety, reduce operating costs, and provide strong support for the long-term development of enterprises.
[0008] To achieve the above objectives, the present invention adopts the following technical solution: an adaptive continuous angle intelligent coal conveying system for underground roadways, comprising: a data acquisition module, a coal distribution analysis module, an idler height adjustment module, a deviation identification module, and a deviation correction adjustment module. The connections between the modules are as follows: the data acquisition module is connected to the coal distribution analysis module; the idler height adjustment module is connected to both the coal distribution analysis module and the deviation identification module; and the deviation correction adjustment module is connected to the deviation identification module.
[0009] The data acquisition module acquires real-time three-dimensional coordinate point cloud data of the coal conveying device inside the roadway, constructs a three-dimensional model of the coal conveying device, and obtains the turning radius and arc length of each corner section of the conveyor belt based on the three-dimensional model.
[0010] The coal distribution analysis module divides the area into related sections based on the curvature of each corner segment, collects the coal depth of the related sections of each corner segment, and analyzes the degree of influence of coal offset in the related sections.
[0011] The idler height adjustment module calculates the basic adjustment height difference based on the turning radius of each corner section of the conveyor belt, and corrects the basic height difference by taking into account the degree of influence of coal offset to obtain the maximum adjustment height difference, and performs gradient adjustment of the height of each idler group.
[0012] The belt misalignment detection module collects the distance between the conveyor belts on both sides and the corresponding side idler edges after adjustment at each corner section, and identifies the direction of belt misalignment and the amount of center offset.
[0013] The belt deviation correction module analyzes the belt deviation direction and center offset of each corner segment to determine the final correction angle of the corresponding idler roller.
[0014] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention obtains the associated section by dividing the bending arc length of each corner segment, avoiding the coal distribution analysis range being too large and affecting the accuracy of the distribution analysis, while avoiding the range being too small and causing frequent adjustments, thus improving the timeliness and accuracy of subsequent adjustments.
[0015] (2) This invention collects the coal depth of the associated sections of each corner segment, analyzes the degree of coal offset influence of the associated sections, and intuitively reflects the actual off-center loading of coal in the corner segment, so that the subsequent idler height adjustment can fully match the actual coal distribution conditions of the upstream coal, and achieve efficient and precise adjustment.
[0016] (3) By adjusting the height of each idler group in a gradient, the present invention allows the conveyor belt to form a smooth arc, which fits the turning trajectory of the corner section, avoids coal impact and spillage caused by sudden changes in local height, improves the stability and transportation efficiency of coal transportation in continuous corner scenarios, and reduces coal deviation and equipment wear.
[0017] (4) Based on the analysis of the conveyor belt deviation direction and center offset of each corner section, the present invention determines the final correction angle of the corresponding idler roller, avoids blind adjustment, ensures that the correction action is accurately adapted to the deviation condition, corrects deviation in time, avoids problems such as idler roller wear, and ensures stable and efficient operation of the coal conveying device. Attached Figure Description
[0018] 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.
[0019] Figure 1 This is a schematic diagram of the system module connections of the present invention;
[0020] Figure 2 This is a schematic diagram of the steps for obtaining the associated segment in this invention;
[0021] Figure 3 This is a schematic diagram illustrating the specific steps of the correction and adjustment module in this invention. Detailed Implementation
[0022] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values of the components and steps set forth in these embodiments do not limit the scope of the invention. Furthermore, it should be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale.
[0023] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use. Techniques, methods, and apparatus known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and apparatus should be considered part of the specification.
[0024] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.
[0025] Please see Figure 1As shown, this invention provides an adaptive continuous angle intelligent coal conveying system for underground roadways, including a data acquisition module, a coal distribution analysis module, an idler height adjustment module, a deviation identification module, and a deviation correction adjustment module. The connections between the modules are as follows: the data acquisition module is connected to the coal distribution analysis module; the idler height adjustment module is connected to both the coal distribution analysis module and the deviation identification module; and the deviation correction adjustment module is connected to the deviation identification module.
[0026] The data acquisition module collects the turning radius and arc length of each corner section of the conveyor belt.
[0027] Considering that the underground roadways are narrow and have many continuous turns, the turning radius and arc length of the coal conveying equipment in the roadways are not easy to measure directly with tools; and considering that the coal distribution will change with operation, by collecting point clouds in real time and updating the three-dimensional model, the parameters of the turning segments and the coal distribution can always fit the actual working conditions.
[0028] Based on this, the specific implementation steps of the data acquisition module are as follows: S11, acquire the three-dimensional coordinate point cloud data of the coal conveying device inside the roadway in real time, and construct a three-dimensional model of the coal conveying device. The specific implementation steps are as follows: deploy lidar sensors along the conveyor belt in the underground roadway to scan the conveyor belt and idler rollers in real time, and collect continuous frames of three-dimensional coordinate point cloud data; transmit the data from each sensor to the edge computing node in real time, preprocess the original point cloud data, perform noise reduction and filtering operations sequentially, and then connect the processed point cloud data into triangular patches using the Poisson reconstruction algorithm, thereby constructing a three-dimensional model of the coal conveying device. The reconstruction depth in the Poisson reconstruction algorithm is set to 10 levels. This construction method and the Poisson reconstruction algorithm are existing technologies, and will not be explained further in this invention.
[0029] In this embodiment, the idler group consists of three idlers arranged in series along the width of the conveyor belt, including a central horizontal idler and two side inclined idlers.
[0030] S12. Obtain the turning radius and bending arc length of each corner segment of the conveyor belt based on the 3D model. The specific implementation steps include: S121. Obtain the center path of the conveyor belt and the position of all idler groups based on the 3D model of the coal conveying device, and take the intersection of the idler center projection line of each idler group on the conveyor belt and the center path of the conveyor belt as the monitoring point.
[0031] S122. Obtain the curvature at each monitoring point on the center path of the conveyor belt. Record the points where the curvature at each monitoring point is not zero as bending points. Combine the continuous bending points to form the corner segments of the conveyor belt and obtain the bending arc length of the center path of the conveyor belt in each corner segment.
[0032] S123. Obtain the Euclidean distance between the two ends of the center path of each corner segment and denote it as the chord length. Based on the vertical distance from the midpoint of the chord length to the center path of the conveyor belt, calculate the turning radius of each corner segment of the conveyor belt.
[0033] The specific formula for calculating the turning radius is as follows: .
[0034] in The turning radius, For the chord length, The distance is the vertical distance from the midpoint of the chord to the center of the conveyor belt. This formula is derived from the relationship between the chord length and the radius of the circle using the Pythagorean theorem. This is existing technology, and the specific derivation process will not be elaborated here.
[0035] This invention acquires real-time three-dimensional coordinate point cloud data of the coal conveying device inside the roadway, constructs a three-dimensional model of the coal conveying device, and obtains the turning radius and arc length of each corner segment of the conveyor belt based on the three-dimensional model. Through the three-dimensional model and point cloud data, the radius of different corner segments and the corner segments continuously added during the mining process can be dynamically updated, adapting to the variable working conditions of continuous corners in underground roadways, making subsequent adjustments more in line with reality.
[0036] The coal distribution analysis module obtains the associated segments corresponding to each turning point and analyzes the degree of influence of coal offset in the associated segments.
[0037] Considering that coal is transported from the upstream section of the conveyor belt in the opposite direction to the corner section, a pre-correlation zone is defined for the upstream section to pinpoint the coal source area affecting the corner section. At the same time, if the correlation zone is too large, it will introduce coal data from irrelevant areas; if it is too small, it will not be able to cover all the coal affecting the corner section. Therefore, dividing the correlation zone by the arc length of the bend allows the analysis scope to correspond to the actual area affected by the corner section.
[0038] Furthermore, considering that the bending of the corner section itself makes the conveyor belt prone to deviation, and that uneven distribution of coal in the associated section will further aggravate the deviation of the conveyor belt and cause coal spillage, the degree of deviation is quantified to guide subsequent adjustments.
[0039] Based on this, the specific implementation steps of the coal distribution analysis module are as follows: S21, based on the bending arc length of each corner segment, obtain the associated segments. For example... Figure 2 As shown, its specific implementation is as follows: S211, when there is no corner segment upstream of a certain corner segment, the area of the conveyor belt between the corner segment and the starting end of the conveyor belt is recorded as the preceding associated area.
[0040] S212. When there is a corner segment upstream of a certain corner segment, the conveyor belt area between that corner segment and the nearest corner segment upstream is recorded as the upstream associated area.
[0041] S213. If the curvature of a certain corner segment is greater than or equal to the length of the corresponding preceding associated region, then the preceding associated region of the corner segment shall be regarded as the associated segment.
[0042] S214. Conversely, based on the bending arc length of the corner segment, the preceding associated region is divided into equal intervals to obtain each segment, and the segment closest to the corner segment is taken as the associated segment of the corner segment.
[0043] This invention obtains associated sections by dividing the area based on the bending arc length of each corner segment. This avoids the accuracy of the coal distribution analysis being affected by an excessively large range, while also avoiding frequent adjustments due to an excessively small range, thus improving the timeliness and accuracy of subsequent adjustments.
[0044] S22. Collect the coal depth of the associated sections of each corner segment and analyze the degree of influence of coal offset in the associated sections. The specific implementation steps are as follows: S221. Taking the center path of the conveyor belt as the centerline, determine the inner and outer zones of the associated sections corresponding to each corner segment based on the bending direction of each corner segment. The inner zone refers to the side closer to the center of the circle corresponding to the center path of the corner segment, and the outer zone refers to the side farther from the center of the circle corresponding to the center path of the corner segment.
[0045] S222. Evenly divide the sampling points on the center projection line of the idler roller of each monitoring point on the corresponding associated section of each corner segment, and obtain the coal depth of all sampling points in the inner and outer areas of each associated section respectively.
[0046] S223. Obtain the distance of each collection point from the center path of the conveyor belt, and calculate the centroid offset distance on the projection line of the corresponding idler roller of each monitoring point in combination with the coal depth of the collection point.
[0047] The formula for calculating the centroid offset distance is as follows: .
[0048] in, Represents the distance of centroid offset. and represent the distance of the i-th sampling point from the center path of the conveyor belt and the coal depth, respectively. The depth weight of each collection point is obtained by normalizing the ratio of the coal depth at each collection point to the sum of the coal depths at all collection points. The weighted contribution value of the position and depth of the i-th sampling point to the centroid offset is obtained by summing the weighted contribution values of all sampling points and obtaining the centroid offset distance on the projection line of the center of the corresponding idler roller for that monitoring point.
[0049] When a collection point is located in the inner zone, the distance from the center path of the conveyor belt is recorded as a negative number; when a collection point is located in the outer zone, the distance from the center path of the conveyor belt is recorded as a positive number.
[0050] S224. Obtain the centroid offset distance corresponding to the maximum absolute value of the centroid offset distance on the projection line of the center of the idler roller corresponding to each monitoring point on the associated section of each corner segment, and use the ratio of this distance to the width of the conveyor belt as the degree of coal offset influence of the corresponding corner segment.
[0051] This invention collects the coal depth of the associated sections of each corner segment, analyzes the degree of coal offset in the associated sections, and intuitively reflects the actual coal off-center loading situation of the corner segment. This allows the subsequent idler height adjustment to fully match the actual coal distribution conditions of the upstream coal, achieving efficient and precise adjustment.
[0052] The idler height adjustment module performs gradient adjustment of the height of each idler group in the corner section of the conveyor belt.
[0053] Considering that coal offset in the associated section will cause uneven force on both sides of the conveyor belt, the basic adjustment height difference needs to be corrected by quantifying the degree of impact of coal offset when considering height adjustment.
[0054] Furthermore, considering that single height adjustment can easily lead to concentrated stress and large conveying height gradients, which may cause conveyor belt deviation and unstable transportation, gradient adjustment can achieve coordinated adaptation of each idler group, allowing the idler height to adapt to the curve trajectory, avoiding coal spillage caused by sudden height changes, and reducing the adjustment pressure on the subsequent correction module.
[0055] Based on this, the preferred embodiment of the present invention is as follows: S31, calculate the basic adjustment height difference based on the turning radius of each corner section of the conveyor belt, and correct the basic height difference in combination with the degree of influence of coal offset to obtain the maximum adjustment height difference. The specific implementation steps are as follows: S311, calculate the basic adjustment height difference comprehensively based on the turning radius of each corner section, the width of the conveyor belt, and the running speed of the conveyor belt.
[0056] The formula for calculating the basic adjustment height difference is as follows: .
[0057] in Represents the basic adjustment height difference, Represents the width of the conveyor belt. Represents the conveyor belt speed. Represents the turning radius, which is expressed by the following expression: Solve The obtained, of which Represents the coal quality of the associated section. The sine value of the angle representing the inclined plane is obtained by... The product of these factors yields the component of the coal's own gravity. This represents the centrifugal force experienced by coal when it turns. The inclined surface is formed by the height difference of the idler rollers, and the centrifugal force during the turn is counteracted by the component of gravity of the coal itself.
[0058] S312. When the influence of coal offset in the associated section of a certain turning segment is zero, the basic adjustment height difference shall be taken as the maximum adjustment height difference.
[0059] S313. Conversely, the product of the degree of influence of coal offset and the basic adjustment height difference is used as the correction height difference, and the difference between the basic adjustment height difference and the correction height difference is used as the maximum adjustment height difference.
[0060] The influence of coal offset is a value between -1 and 1, which is essentially a coefficient for dynamically correcting the basic adjustment height difference. When the influence of coal offset is greater than 0, it means that when the coal offset direction is the same as the centrifugal force direction, the superposition of the two exacerbates the risk of deviation. By subtracting the two values, the lifting height of the outer idler can be appropriately reduced to avoid instability caused by over-adjustment. Conversely, when the offset direction is opposite to the centrifugal force, the correction height difference is negative, and subtraction is essentially addition. The lifting height of the outer idler can be appropriately increased to enhance the anti-offset load capability. The above method enables the coal conveying system to dynamically adjust the pre-compensation strategy according to the coal distribution, thereby improving its adaptive capability.
[0061] S32. Adjust the height of each idler group in a gradient manner. The specific implementation steps are as follows: S321. Obtain the adjustment height of the inner and outer idlers of the center idler group according to the maximum adjustment height difference.
[0062] In this embodiment, the height difference is achieved by raising one side and lowering the other. Therefore, the difference between the maximum adjustable height difference and the height difference before adjustment is calculated, and half of the calculated difference is used as the absolute value of the adjustment height of the inner and outer idlers. For example, when the height difference is 20mm, the height difference before adjustment is 2mm, so the adjustment heights of the inner and outer idlers of the center idler group are raised by 9mm and lowered by 9mm, respectively.
[0063] Specifically, when the adjustment height of the central idler group is greater than the maximum allowable adjustment height of the coal conveying equipment, the maximum allowable adjustment height of the coal conveying equipment is used as the adjustment height of the inner and outer sides of the central idler group; otherwise, the adjustment is made according to the calculated adjustment height of the central idler group.
[0064] S322. Obtain the number of idlers before and after the central idler group, and obtain the adjustment gradient value by combining the adjustment height of the inner and outer idlers of the central idler group.
[0065] In a specific embodiment of the present invention, for example, the number of front and rear idler groups in a certain corner section is 8 each, resulting in a gradient number of 9. If the adjustment height is increased by 9mm and decreased by 9mm respectively, the adjustment gradient values on the inner and outer sides are both 1mm. Here, "front" and "rear" in the front and rear idler groups refer to the central idler group, with the conveyor belt running in the forward direction and the opposite direction being "rear".
[0066] S323. Adjust the height of the front and rear idler groups of the center idler group in sequence according to the adjustment gradient value.
[0067] In a specific embodiment of the present invention, the inner and outer idlers of the central idler group are raised by 9mm and lowered by 9mm respectively. The adjustment height of the inner and outer idlers of the front and rear idler groups of the central idler group is reduced sequentially according to the adjustment gradient value of 1mm. The inner and outer idlers of the adjacent idler groups of the central idler group are raised by 8mm and lowered by 8mm respectively, and so on.
[0068] This invention adjusts the height of each idler group in a gradient manner to make the conveyor belt form a smooth arc, which fits the turning trajectory of the corner section, avoids coal impact and spillage caused by sudden changes in local height, improves the stability and transportation efficiency of coal transportation in continuous corner scenarios, and reduces coal deviation and equipment wear.
[0069] The belt misalignment detection module identifies the direction of belt misalignment and the amount of center offset.
[0070] Considering that the conveyor belt may deviate during the adjustment process of the corner section due to factors such as the mismatch of idler height and uneven coal distribution, and that the deviation trend will change dynamically with the operation.
[0071] Furthermore, considering that the direction of deviation and the center offset are the basis for subsequent correction and adjustment analysis, only by accurately identifying the direction of deviation and the center offset can the correction action be effective. Therefore, this module is used to collect distance data in real time and identify the direction of deviation and the center offset.
[0072] Based on this, the specific implementation steps of the belt misalignment identification module are as follows: S41, Collect the distance between the edges of the conveyor belts on both sides and the corresponding side idlers after adjustment at each corner section, and identify the direction of belt misalignment and the center offset. The specific implementation steps are as follows: S411, Read the distance between the edges of each monitoring point of the conveyor belt and the edges of the corresponding side idlers from the distance sensors deployed on both sides of the conveyor belt at each corner section, and record them as the inner distance and outer distance of the conveyor belt, respectively.
[0073] S412. Calculate the absolute difference between the inner and outer distances of the conveyor belt at each monitoring point in each corner segment to obtain the inner and outer deviation of the conveyor belt at each monitoring point.
[0074] S413. When the deviation of the conveyor belt inside and outside a certain monitoring point in a certain corner section is not zero, it is determined that there is deviation in the corner section.
[0075] S414. If the inner distance of the conveyor belt at a certain monitoring point is greater than the outer distance, the direction of deviation at that monitoring point is determined to be outward deviation; otherwise, the direction of deviation is determined to be inward deviation.
[0076] S415. Obtain the inner and outer deviations of the conveyor belt at each monitoring point in each corner segment, thereby obtaining the center offset of the corresponding monitoring point of the conveyor belt. The center offset is half of the inner and outer deviations.
[0077] This invention identifies the direction of conveyor belt deviation and the amount of center offset by collecting the distance between the two sides of the conveyor belt edge and the corresponding side idler edge at each corner section. This solves the technical pain points of traditional manual inspection being slow, having large manual measurement errors, and being unable to dynamically capture deviation trends. It improves the accuracy of deviation quantification and ensures the stability and safety of corner section operation.
[0078] The correction adjustment module adjusts the angle of the conveyor belt idler group according to the final correction angle.
[0079] Considering that conveyor belt deviation at corner sections can lead to uneven stress and increased local wear, affecting the service life of the conveyor belt and even causing risks such as conveyor belt tearing in severe cases, it is necessary to adjust the conveyor belt deviation using idler rollers. However, considering that uneven coal distribution during the adjustment process will further increase the uneven stress on the conveyor belt, ignoring the impact of uneven coal distribution will cause deviations between the correction command and the actual correction effect, resulting in over-adjustment or under-adjustment problems, and failing to adapt to dynamic deviation conditions.
[0080] Based on this, such as Figure 3 As shown, the specific steps of the correction adjustment module are as follows: S51, Analyze the final correction angle of the corresponding idler roller based on the conveyor belt deviation direction and center offset of each corner segment. The specific implementation steps are as follows: S511, Obtain the coal volume of each corner segment based on the three-dimensional model of the coal conveying device, multiply it by the coal density to calculate the total coal mass of each corner segment, and record the ratio of the total coal mass of each corner segment to the corresponding bending arc length as the load mass. Specifically, the coal volume of each corner segment is obtained by: acquiring the coal accumulation point cloud of the inner and outer areas of each corner segment through laser radar scanning, and calculating the point cloud volume as the coal volume; or by measuring the coal cross-section in real time using a three-dimensional laser profilometer installed above the conveyor belt, and integrating the volume with the running speed.
[0081] S512. Based on the load mass and center offset of each monitoring point in each turning segment, and combined with the basic correction angle of the coal conveying device under different load masses per unit center offset, the basic correction angle of each monitoring point is obtained.
[0082] The basic correction angle corresponding to the unit center offset under different load masses is a parameter calibrated in advance for the conveyor belt. The specific calibration method is as follows: By setting up correction experiments for different load masses, the center offset at each monitoring point where the conveyor belt has offset under each load mass is obtained in real time. By adjusting the angle of the idler group, the angle of the idler group when the center offset of the conveyor belt at the monitoring point is adjusted to 0 is recorded. The ratio of this angle to the center offset before the idler group starts to be adjusted is used as the corresponding correction coefficient. The average value of the correction coefficient under each load mass is calculated and used as the basic correction angle for the unit center offset of the corresponding load mass.
[0083] S513. Based on the coal volume in the inner and outer zones of each turning segment, obtain the coal mass offset of each turning segment, and comprehensively analyze the final correction angle of the corresponding idler roller group at each monitoring point in conjunction with the basic correction angle. The specific implementation steps include: S5131. Based on the coal volume in the inner and outer zones of each turning segment, calculate the coal mass by multiplying it with the coal density.
[0084] S5132. The difference between the coal quality in the inner zone and the coal quality in the outer zone is taken as the coal quality offset.
[0085] S5133. When the coal quality offset of a certain corner segment is equal to zero, the basic correction angle of that corner segment shall be taken as the final correction angle.
[0086] S5134. When the coal mass offset of a certain corner segment is not equal to zero, calculate the additional lateral force based on the coal mass offset, and obtain the correction angle of the corner segment based on the friction coefficient between the idler roller and the conveyor belt.
[0087] Considering that when the coal mass is uneven between the inner and outer sides of the turning section, the offset coal will generate an additional lateral force on the conveyor belt. To eliminate this effect, additional energy needs to be provided beyond the basic correction angle to push the offset coal mass laterally back to the theoretical center distribution position of the conveyor belt. The additional energy required for this process is achieved by increasing the correction angle of the idler roller assembly, i.e., increasing the friction distance, which is provided by the increased frictional guiding work between the conveyor belt and the idler rollers.
[0088] The expression for correcting the deviation angle is: .
[0089] in This represents the correction angle. Represents the friction distance. This represents half the width of the conveyor belt. This expression is a relationship between arc length and angle. During the correction process, half the width of the conveyor belt can be regarded as the radius of a circle, and the friction distance during the correction process can be regarded as the chord length. The correction angle can be obtained through this conversion relationship.
[0090] in, .
[0091] This represents the mass offset. Represents the center offset. Represents load quality. This represents the angle between the side idler rollers in the idler roller group and the horizontal plane. These represent the coefficient of friction and gravitational acceleration between the idler roller and the conveyor belt, respectively, in this embodiment. .in Specific parameters for coal conveying equipment can be obtained from equipment parameter databases.
[0092] in This represents the frictional force between the idler roller and the conveyor belt, and its relationship to the frictional distance. The product represents the work done to counteract the lateral forces that need to be offset during the conveyor belt correction process. The additional lateral force representing the offset mass, and its relationship with... The product of represents the extra work required during the correction process due to the additional lateral force. The above expression is obtained by solving the friction distance by simultaneously solving for the work done by the lateral force to be offset and the extra work required.
[0093] S5135. The sum of the correction angle of the corner segment and the basic correction angle shall be taken as the final correction angle.
[0094] S514. Adjust the angle of each idler group according to the final correction angle of the idler group corresponding to each monitoring point. The specific implementation steps are as follows: S5141. Take the geometric center point of each monitoring point's idler group as the origin, the vertical upward direction as the positive Z-axis, the conveyor belt running direction as the positive Y-axis, and the horizontal plane perpendicular to the center path pointing to the inner area of the corner section as the X-axis.
[0095] S5142. When the deviation direction of a certain monitoring point in a certain corner segment is inward, control the entire idler group corresponding to the monitoring point to rotate around the Z-axis, so that the idler group rotates counterclockwise in the XY plane coordinate system with the final correction angle.
[0096] S5143. When the deviation direction of a certain monitoring point in a certain corner segment is outward, control the entire idler group corresponding to the monitoring point to rotate around the Z-axis, so that the idler group rotates clockwise in the XY plane coordinate system with the final correction angle.
[0097] This invention analyzes the direction of belt deviation and center offset of each turning segment to determine the final correction angle of the corresponding idler roller. This avoids blind adjustment, ensures that the correction action is accurately adapted to the deviation condition, corrects deviation in a timely manner, avoids problems such as idler roller wear, and ensures the stable and efficient operation of the coal conveying device.
[0098] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, in the form of a computer program product.
[0099] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.
[0100] In addition, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module.
[0101] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
[0102] Finally, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
Claims
1. An adaptive continuous angle intelligent coal conveying system for underground roadways, characterized in that, include: The data acquisition module acquires real-time three-dimensional coordinate point cloud data of the coal conveying device inside the roadway, constructs a three-dimensional model of the coal conveying device, and obtains the turning radius and arc length of each corner section of the conveyor belt based on the three-dimensional model; The coal distribution analysis module divides the area into related sections based on the bending arc length of each corner segment, collects the coal depth of the related sections of each corner segment, and analyzes the degree of influence of coal offset in the related sections. The idler height adjustment module calculates the basic adjustment height difference based on the turning radius of each corner section of the conveyor belt, and corrects the basic height difference by combining the influence of coal offset to obtain the maximum adjustment height difference, and performs gradient adjustment of the height of each idler group. The belt misalignment detection module collects the distance between the conveyor belts on both sides and the corresponding side idler edges after adjustment at each corner section, and identifies the direction of belt misalignment and the amount of center offset. The belt deviation correction module analyzes the belt deviation direction and center offset of each corner segment to determine the final correction angle of the corresponding idler group and adjusts the angle of the conveyor belt idler group. The steps for obtaining the associated segment include: When there is no upstream corner segment for a certain corner segment, the area of the conveyor belt between that corner segment and the starting end of the conveyor belt is recorded as the preceding associated area; When there is a corner segment upstream of a certain corner segment, the conveyor belt area between that corner segment and its nearest upstream corner segment is recorded as the preceding associated area. If the curvature of a corner segment is greater than or equal to the length of the corresponding preceding associated region, then the preceding associated region of the corner segment is taken as the associated segment. Conversely, based on the curvature of the corner segment, the preceding associated region is divided into equal segments, and the segment closest to the corner segment is taken as the associated segment of the corner segment.
2. The intelligent coal conveying system for adaptive continuous angle turning in underground roadways according to claim 1, characterized in that, The specific contents of the data acquisition module include: Based on the three-dimensional model of the coal conveying device, the center path of the conveyor belt and the position of all idler groups are obtained, and the intersection of the idler center projection line of each idler group on the conveyor belt and the center path of the conveyor belt is used as the monitoring point. Obtain the curvature at each monitoring point on the center path of the conveyor belt, identify the bending points based on the curvature at each monitoring point, form a continuous bending point into a corner segment of the conveyor belt, and obtain the bending arc length of the center path of the conveyor belt in each corner segment. Obtain the Euclidean distance between the two ends of the center path of each corner segment and denote it as the chord length. Based on the vertical distance from the midpoint of the chord length to the center path of the conveyor belt, calculate the turning radius of each corner segment of the conveyor belt.
3. The intelligent coal conveying system for adaptive continuous angle turning in underground roadways according to claim 2, characterized in that, The specific methods for obtaining the degree of influence of the coal offset include: Using the center path of the conveyor belt as the centerline, and based on the bending direction of each corner segment, determine the inner and outer zones of the corresponding associated sections of each corner segment; The sampling points are evenly divided along the center projection line of the idler rollers of each monitoring point on the corresponding associated section of each corner segment, and the coal depth of all sampling points in the inner and outer areas of each associated section is obtained respectively. Obtain the distance of each collection point from the center path of the conveyor belt, and calculate the centroid offset distance on the projection line of the corresponding idler roller of each monitoring point based on the coal depth at the collection point. Obtain the centroid offset distance corresponding to the maximum absolute value of the centroid offset distance on the projection line of the center of the idler roller corresponding to each monitoring point on the associated section of each corner segment, and use the ratio of this distance to the width of the conveyor belt as the degree of coal offset influence of the corresponding corner segment.
4. The intelligent coal conveying system for adaptive continuous angle turning in underground roadways according to claim 1, characterized in that, The method for obtaining the maximum adjustment height difference includes: The foundation adjustment height difference is calculated comprehensively based on the turning radius of each corner section, the width of the conveyor belt, and the running speed of the conveyor belt; When the influence of coal offset in the associated section of a certain corner segment is equal to zero, the basic adjustment height difference is taken as the maximum adjustment height difference; Conversely, the product of the degree of coal offset influence and the basic adjustment height difference is used as the corrected height difference, and the difference between the basic adjustment height difference and the corrected height difference is used as the maximum adjustment height difference.
5. The intelligent coal conveying system for adaptive continuous angle turning in underground roadways according to claim 4, characterized in that, The specific steps for gradient adjustment of the height of each idler roller group include: The adjustment heights of the inner and outer idlers of the center idler group are obtained based on the maximum adjustment height difference. Obtain the number of idlers before and after the central idler group, and obtain the adjustment gradient value by combining the adjustment height of the inner and outer idlers of the central idler group; The heights of the front and rear idler groups of the center idler group are adjusted in sequence according to the adjustment gradient value.
6. The intelligent coal conveying system for adaptive continuous angle turning in underground roadways according to claim 2, characterized in that, The method for obtaining the deviation direction and center offset includes: The distances between the two sides of each monitoring point on the conveyor belt and the corresponding side idler edge are read from the distance sensors installed on both sides of each corner section of the conveyor belt, and are recorded as the inner side distance and the outer side distance of the conveyor belt, respectively. Calculate the absolute difference between the inner and outer distances of the conveyor belt at each monitoring point in each corner segment to obtain the inner and outer deviation of the conveyor belt at each monitoring point; When the deviation of the conveyor belt inside and outside a certain monitoring point in a certain corner section is not zero, it is determined that there is deviation in that corner section; If the inner distance of the conveyor belt at a certain monitoring point is greater than the outer distance, the direction of deviation at that monitoring point is determined to be outward deviation; otherwise, the direction of deviation is determined to be inward deviation. The deviation of the conveyor belt inside and outside is obtained at each monitoring point of each corner segment, thereby obtaining the center offset of the corresponding monitoring point of the conveyor belt.
7. The intelligent coal conveying system for adaptive continuous angle turning in underground roadways according to claim 3, characterized in that, The specific contents of the correction and adjustment module include: The coal volume of each turning segment is obtained based on the three-dimensional model of the coal conveying device, the total coal mass of each turning segment is calculated, and the ratio of the total coal mass of each turning segment to the corresponding turning arc length is recorded as the load mass. Based on the load mass and center offset of each monitoring point in each turning segment, and combined with the basic correction angle of the coal conveying device under different load masses per unit center offset, the basic correction angle of each monitoring point is obtained. Based on the coal volume in the inner and outer zones of each corner segment, the coal mass offset of each corner segment is obtained, and the final correction angle of the corresponding idler roller group at each monitoring point is comprehensively analyzed in combination with the basic correction angle. The angle of each idler group is adjusted according to the final correction angle of the idler group corresponding to each monitoring point.
8. The intelligent coal conveying system for adaptive continuous angle turning in underground roadways according to claim 7, characterized in that, The method for calculating the final correction angle includes: The coal mass is calculated by multiplying the coal volume in the inner and outer zones of each turning segment with the coal density. The difference between the coal quality in the inner zone and the coal quality in the outer zone is taken as the coal quality offset. When the coal quality offset of a certain corner segment is equal to zero, the basic correction angle of that corner segment is taken as the final correction angle. When the coal mass offset of a certain corner segment is not equal to zero, the additional lateral force is calculated based on the coal mass offset, and the correction angle of the corner segment is obtained by analyzing the friction coefficient between the idler roller and the conveyor belt. The sum of the correction angle of the turning segment and the basic correction angle is taken as the final correction angle.
9. The intelligent coal conveying system for adaptive continuous angle turning in underground roadways according to claim 7, characterized in that, The specific steps for adjusting the angle of each idler roller group include: A spatial rectangular coordinate system is established with the geometric center point of each monitoring point as the origin, the vertical upward direction as the Z-axis, the conveyor belt running direction as the positive Y-axis, and the horizontal plane perpendicular to the center path pointing to the inner area of the corner section as the X-axis. When the deviation direction of a certain monitoring point in a certain corner segment is inward, control the entire idler group corresponding to that monitoring point to rotate around the Z-axis, so that the idler group rotates counterclockwise in the XY plane coordinate system with the final correction angle. When a certain monitoring point in a certain corner section deviates outward, the entire idler group corresponding to that monitoring point is controlled to rotate around the Z-axis, so that the idler group rotates clockwise in the XY plane coordinate system with the final correction angle.