Control method for a suspension weighing structure transmission system

Abstract

The application discloses a control method based on a suspension weighing structure transmission system and relates to the technical field of suspension weighing. The application comprises the following steps: deploying a suspension weighing structure between a feeder and a conveyor belt, arranging a third weighing module at the bottom of a skip, arranging an intercepting module at the discharge port of the feeder, arranging a visual module on the top and side of the suspension weighing structure, electrically connecting the output end of the visual module with the input end of a processing unit, inputting a set loading capacity into the processing unit, and controlling the feeder and the conveyor belt to continuously transport coal. The application arranges the suspension weighing structure at the falling position of the discharge port, independently collects the weight of the coal, cooperates with the visual module to predict the motion state, and cooperates with the active and passive buffer modules to offset the impact. On the one hand, the application can improve the weighing precision. On the other hand, the application can avoid the hysteresis of the weighing data by weighing first and then transporting.

Description

Technical Field

[0001] This invention relates to the field of suspended weighing technology, specifically to a control method based on a suspended weighing structure transmission system. Background Technology

[0002] Quantitative belt loading equipment is an industrial automation equipment that integrates continuous conveying, dynamic metering, and stepless speed regulation. It is widely used in the raw material conveying and batching process in industries such as building materials, chemicals, coal, metallurgy, and power.

[0003] Existing quantitative belt loading equipment mainly uses two methods for weighing raw materials. One method involves placing the weighing sensor at the bottom of the conveyor belt to continuously weigh the transported raw materials. The advantage of this method is that weighing does not affect the transport of raw materials, but the disadvantage is that the weighing is easily affected by the impact and movement of the raw materials during transport, resulting in low weighing data accuracy. The other method involves placing the weighing sensor at the bottom of the skip for weighing. The advantage of this method is that it can weigh the raw materials when they are stationary, resulting in high weighing data accuracy. The disadvantage is that the skip is at the end of the transport process, resulting in weighing lag, making continuous weighing and precise feeding impossible. Therefore, designing a transmission system that can balance weighing accuracy and continuous weighing is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a control method based on a suspended weighing structure transmission system, which solves the problems mentioned in the background section.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a control method based on a suspended weighing structure transmission system, applied to a quantitative belt loading equipment. The quantitative belt loading equipment includes a processing unit, a first weighing module, a feeder, a conveyor belt, and a skip. The output end of the first weighing module is electrically connected to the input end of the processing unit. The first weighing module is located at the bottom of the conveyor belt and is used to weigh the conveyor belt and the entire coal mine being transported. The output end of the processing unit is electrically connected to the input ends of the feeder, the conveyor belt, and the skip, respectively. The method includes the following steps:

[0006] Step 1: Preliminary deployment. A suspended weighing structure is deployed between the feeder and the conveyor belt. A third weighing module is installed at the bottom of the skip. The suspended weighing structure includes an active buffer module, a passive buffer module, and a second weighing module. The outputs of the second weighing module and the passive buffer module are electrically connected to the input of the processing unit. The output of the processing unit is electrically connected to the input of the active buffer module. The output of the third weighing module is electrically connected to the input of the processing unit. An interception module is installed at the feeder outlet. The output of the processing unit is electrically connected to the input of the interception module. At the same time, vision modules are installed on the top and sides of the suspended weighing structure. The output of the vision modules is electrically connected to the input of the processing unit. The preliminary deployment is completed. The processing unit executes Step 2 and Step 3 simultaneously.

[0007] Step 2: Set the loading capacity and continuous transport. The operator uses the industrial control computer to input the set loading capacity into the processing unit. The processing unit controls the feeder and conveyor belt to continuously transport the coal into the skip according to the loading capacity.

[0008] Step 3: Weighing and Compensation. During the coal transportation process, the processing unit executes a weighing and statistics program. By controlling the suspended weighing structure, it calculates the first weight of the coal transported by the conveyor belt. The first weight is obtained by the second weighing module. When the coal transportation process reaches its end, Step 2 and Step 3 are parallel. In Step 2, while the conveyor belt is continuously transporting coal, the processing unit simultaneously executes the weighing and statistics program to accumulate the first weight in real time until Step 2 ends. The processing unit automatically executes the weighing and compensation program to calculate the second weight of the coal that needs to be replenished and proceeds to the next step, Step 4.

[0009] Step 4: The interception module executes slow feeding, and the processing unit executes a refined feeding program to control the interception module to close part of the feeder's outlet and slowly feed the material until the sum of the first weight and the second weight equals the set loading amount, then proceed to the next step 5;

[0010] Step 5: Recording and Feedback Optimization. After the conveyor belt completes the transportation of all coal, the third weighing module weighs the coal in the skip to obtain the third weight and transmits it to the processing unit. The processing unit executes a feedback optimization program to compare the third weight with the set load to obtain the iteration parameters of the optimized suspended weighing structure and the first weighing module. The first and second weighing modules are then recalibrated. The third weight is the weight information obtained by the skip when the coal is stationary, so the weighing information of the third weight is the most reliable and can help optimize the accuracy of the optimized weighing of the first and second weighing modules. However, the skip cannot obtain weight information in real time during transportation, and when the feeder stops feeding, there is still coal on the conveyor belt that has not yet been transported to the skip. Therefore, the main function of the third weight is still to optimize the second weighing module in the suspended weighing structure and the first weighing module at the bottom of the conveyor belt. Furthermore, the suspended weighing structure is located between the feeder outlet and the conveyor belt. As the weighing device that first comes into contact with the coal, the iteration parameters of the second weighing module have a higher weight.

[0011] Furthermore, the continuous transportation of coal in the mine by the feeder and conveyor belt specifically includes the following steps:

[0012] Step 21: The coal falls from the feeder outlet and proceeds to the next step, 22;

[0013] Step 22: Before the coal mine falls into the top slope of the suspended weighing structure, the vision module continuously collects image information from the top and side views of the suspended weighing structure. The vision module transmits the image information to the processing unit, and then proceeds to step 23 and step 31 of the weighing statistics program.

[0014] Step 23: After the coal mine falls onto the top slope of the suspended weighing structure, the processing unit controls the active buffer module to drive the slope to actively buffer the falling coal mine based on the image information. The active buffer module and the passive buffer module work together to buffer the falling coal mine. The passive buffer module is used to buffer the vertical force when the coal mine falls, while the active buffer module is used to buffer the horizontal and vertical forces when the coal mine falls. If the active buffer module fails, the passive buffer module can continue to perform the buffering task as a redundancy. The second weighing module obtains the first mass of the coal mine on the slope and transmits it to the processing unit. Affected by the slope's inclination, the coal mine continues to slide downwards and falls onto the surface of the starting end of the conveyor belt. The processing unit controls the conveyor belt to continuously transport coal ore towards the skip. The coal ore is transported by the conveyor belt to the end of the conveyor belt. The first weighing module at the bottom of the conveyor belt obtains the second mass of the total mass of the coal ore on the conveyor belt and the surface of the conveyor belt and transmits it to the processing unit. The processing unit compares the first mass, the second mass and the set loading amount in real time to determine whether the coal ore transportation has reached the end. When either the first mass or the second mass reaches the value corresponding to the end of the set loading amount, the processing unit automatically executes the weighing compensation program. It should be noted that the first mass and the second mass are both data collected during the continuous transportation of coal ore. After being accumulated by the processing unit, the accurate value is obtained and the weighing compensation program enters step 34.

[0015] Furthermore, the weighing and statistical procedure includes the following steps during execution:

[0016] Step 31: The processing unit extracts the horizontal displacement d1 and vertical displacement d2 of each coal mine center point in adjacent frames from the image information, and proceeds to the next step 32;

[0017] Step 32: The processing unit calculates the horizontal motion vector a1 and vertical motion vector a2 of the coal mine as a whole in a falling state between adjacent frames based on the horizontal displacement d1 and the vertical displacement d2, and then proceeds to the next step 33.

[0018] Step 33: The processing unit calculates the first compensation force f1 in the horizontal direction of the slope based on the horizontal motion vector a1, and calculates the second compensation force f2 in the vertical direction of the slope based on the vertical motion vector a2. After the calculation is completed in step 33, the first compensation force f1 and the second compensation force f2 are sent to the active buffer module to execute the buffering action in step 23.

[0019] Furthermore, the weighing compensation procedure includes the following steps:

[0020] Step 34: The processing unit subtracts the weight of the conveyor belt from the second mass to obtain the third mass;

[0021] Step 35: The processing unit sets the iteration parameters of the first and second weighing modules. The iteration parameters are actually the calibration coefficients of the first and second weighing modules, with an adjustment range of 0.9853~1.0155. When the iteration parameter is less than 1, it represents a decrease in the corresponding calculation result; conversely, when the iteration parameter is greater than 1, it represents an increase in the corresponding calculation result. The actual value of the iteration parameter is determined based on the difference between the third weight and the first weight. The larger the difference, the higher the corresponding actual value. The iteration parameter must meet the condition that the change range of the iteration parameter of the second weighing module is greater than the change range of the iteration parameter of the first weighing module. The change range is determined based on the actual coal transportation volume. When the suspended weighing module corresponding to the second weighing module continuously weighs, the corresponding coal weight value is smaller and closer to the feeder outlet, so a higher adjustment sensitivity is required.

[0022] Step 36: The processing unit multiplies the first mass by the iteration parameter corresponding to the second weighing module to obtain the first reference value, multiplies the third mass by the iteration parameter corresponding to the first weighing module to obtain the second reference value, and subtracts the average of the first and second reference values ​​from the set loading amount to obtain the second weight. The calculation weights corresponding to the first and second weighing modules are different. By taking the average of the two reference values, a second weight that is closer to the actual weight of the coal mine is obtained.

[0023] Furthermore, the interception module is a discharge port baffle that can be controlled by a percentage. The overlap area between the baffle and the discharge port represents the interception degree of the interception module. The refined feeding program includes the following steps when executed:

[0024] Step 41: The processing unit sets the interception percentage of the interception module. When the interception percentage is 0%, the baffle of the interception module does not overlap with the feeder outlet. When the interception percentage is 100%, the baffle of the interception module completely overlaps with the feeder outlet. Proceed to the next step 42.

[0025] Step 42: The processing unit continuously acquires and accumulates the weight of the falling coal from the second weighing module. The accumulated weight is divided by the second weight and then multiplied by 100% to obtain the interception percentage of the interception module. The processing unit controls the interception degree of the interception module according to the interception percentage. When the interception percentage of the interception module reaches the maximum value, the refined feeding program stops. When the interception percentage of the interception module reaches the maximum value, it means that the weight of the coal falling from the feeder outlet predicted by the second weighing module has reached the second weight. At this time, the sum of the first weight and the second weight is equal to the set loading amount, and proceed to the next step 51.

[0026] Furthermore, the feedback optimization procedure includes the following steps during execution:

[0027] Step 51: The processing unit controls the conveyor belt to continue conveying coal until the weight information collected by the first weighing module is marked as the fourth mass. The fourth mass is compared with the weight of the conveyor belt. When the two values ​​are equal or the fourth mass is less than the weight of the conveyor belt, the coal falls into the skip during the conveying process. The fourth mass will gradually decrease. If the fourth mass is less than the weight of the conveyor belt, it means that there may be an error in the first weighing module, which will not affect the subsequent weighing comparison of the skip. If the fourth mass is equal to the weight of the conveyor belt, all the coal on the surface of the conveyor belt is conveyed into the skip. The processing unit determines whether there is still coal remaining on the surface of the conveyor belt by comparing the weight information collected by the first weighing module with the weight of the conveyor belt. The processing unit controls the conveyor belt to stop conveying and proceeds to the next step 52.

[0028] Step 52: The processing unit obtains the weight information from the third weighing module and subtracts the weight of the skip to obtain the third weight. The processing unit compares the third weight with the set loading amount. If the third weight is greater than the set loading amount, it means that the weight calculated by the second and first weighing modules is greater than the actual mass. The processing unit adjusts the iteration parameters of the first and second weighing modules to less than 1. If the third weight is equal to the set loading amount, it means that the weight calculated by the second and first weighing modules is close to the actual mass. The processing unit sets the iteration parameters of the first and second weighing modules to 1. If the third weight is less than the set loading amount, it means that the weight calculated by the second and first weighing modules is less than the actual mass. The processing unit adjusts the iteration parameters of the first and second weighing modules to greater than 1, and the feedback optimization program stops. By changing the value of the iteration parameters, the calculation results of the weighing statistics program and the weighing compensation program are continuously optimized, so that the weight of the coal at the suspended weighing structure and the conveyor belt weighing point continuously approaches the set loading amount, thereby improving the weighing accuracy without affecting the continuous transportation of coal.

[0029] Furthermore, the calculation process for the horizontal displacement d1 and the vertical displacement d2 includes the following steps:

[0030] Step 311: While the vision module is acquiring images, it is necessary to enhance the illumination of the coal mine surface. The reason is that the coal mine is mainly black with weak texture features and insufficient edge features. It is necessary to supplement the light to increase the amount of information in the image information acquired by the vision module. The processing unit converts each frame in the image information into a grayscale image with a grayscale value range of 0-255. It calculates the grayscale value difference between each pixel in the image and its adjacent pixels and sorts them according to the value to obtain the first sequence, and then proceeds to the next step 312.

[0031] Step 312: The processing unit marks the median in the first sequence as the judgment threshold. When the median is not unique, the average of all medians is used as the judgment threshold. All pixels with gray value differences greater than the judgment threshold are marked as edge points, and the process proceeds to the next step 313.

[0032] Step 313: The processing unit connects the closest edge points in each frame to each other. When a single edge point is equidistant from multiple surrounding edge points, all edge points are connected. After all edge points are connected, the process proceeds to the next step 314.

[0033] Step 314: The processing unit marks the closed shape after connecting the edge points as the outline of a single coal mine. The processing unit establishes two non-parallel dividing lines within the outline. The number of pixels on both sides of the dividing lines is equal. The intersection of the two dividing lines is marked as the center point of the coal mine, and then proceeds to the next step 315.

[0034] Step 315: The processing unit connects the center points of each coal mine in adjacent frames of the image information acquired by the vision module from the top-down angle to obtain the first line segment l1, and connects the center points of each coal mine in adjacent frames of the image information acquired by the vision module from the side view to obtain the second line segment l2. Since the forward and backward movement distance of the coal mines in the adjacent frames of the image information is not large and the contours of each coal mine are different, the movement trajectory of the center point of the same coal mine in adjacent frames can be locked by the principle of proximity and contour similarity comparison. The processing unit adds up all the first line segments l1 in adjacent frames of the image information and calculates the average to obtain the horizontal displacement d1 between adjacent frames, and adds up all the second line segments l2 in adjacent frames of the image information and calculates the average to obtain the vertical displacement d2 between adjacent frames, and then proceeds to the next step 321.

[0035] Furthermore, the calculation process of the horizontal motion vector a1 and the vertical motion vector a2 includes the following steps:

[0036] Step 321: The processing unit establishes a spatial coordinate system, takes the conveying direction of the conveyor belt as the reference line, calculates the deviation angle between the movement direction of each coal mine and the reference line between adjacent frames under the top view angle of the vision module, and sums them to obtain the horizontal angle θ1. The deviation angle can be positive or negative. The positive and negative numbers in the summation can cancel each other out, similar to calculating the final average value of all deviation angles. Calculates the deviation angle between the movement direction of each coal mine and the reference line between adjacent frames under the side view angle of the vision module, and sums them to obtain the vertical angle θ2. The movement direction is the line connecting the center points of adjacent frames of the same coal mine.

[0037] Step 322: The processing unit substitutes the horizontal angle θ1 and the horizontal displacement d1 into Formula 1. The horizontal motion vector a1 is calculated, and the vertical angle θ2 and the vertical displacement d2 are substituted into formula two. The vertical motion vector a2 is calculated, and the process proceeds to the next step 331. Both the horizontal motion vector a1 and the vertical motion vector a2 are two-dimensional vectors. The horizontal motion vector a1 is represented by the x-axis and y-axis in the spatial coordinate system, and the vertical motion vector a2 is represented by the x-axis and z-axis in the spatial coordinate system. The x-axis is parallel to the reference line. The horizontal motion vector a1 and the vertical motion vector a2 are two components of the overall motion direction of the coal mine between adjacent frames, respectively, under the top-view angle and the side-view angle. The active buffer module in the subsequent step 23 then performs active buffering for the two components to reduce the impact of the moving coal mine on the data collected by the second weighing module and improve the reliability of the first quality data.

[0038] Furthermore, the calculation process for the first compensation force f1 and the second compensation force f2 includes the following steps:

[0039] Step 331: Estimate the coal mine volume V. The processing unit calculates the estimated volume V of the coal mine based on the number of pixels of each coal mine in the image information. From the top view, the number of pixels of a single coal mine is counted as the cross-sectional area S1 of the coal mine. The height H1 of the coal mine is counted. Height H1 is the longest line segment parallel to the reference line and penetrating the coal mine. Height H2 is the longest vertical distance penetrating the coal mine. From the side view, the number of pixels of a single coal mine is counted as the cross-sectional area S2 of the coal mine. The height H2 of the coal mine is counted. The cross-sectional area S1 and the height H2 are multiplied to obtain the first volume v1. The cross-sectional area S2 and the height H1 are multiplied to obtain the second volume v2. The average of the first volume v1 and the second volume v2 is calculated to obtain the estimated volume V of the coal mine. Proceed to the next step 332.

[0040] Step 332: Calculate the total mass M of the coal mine. The processing unit adds the estimated volume V of each coal mine and multiplies it by the coal mine density to obtain the total mass M of the coal mine under the falling state between adjacent frames. The coal mine density is a preset parameter inside the processing unit and can be directly called for formula calculation. Proceed to the next step 333.

[0041] Step 333: The processing unit processes the data according to Formula 3. Calculate the first compensation force f1 according to Formula 4. Calculate the second compensation force f2, where a1x is the x-axis component of the horizontal motion vector a1 in the spatial coordinate system, a1y is the y-axis component of the horizontal motion vector a1 in the spatial coordinate system, a2x is the x-axis component of the vertical motion vector a2 in the spatial coordinate system, a2z is the z-axis component of the vertical motion vector a2 in the spatial coordinate system, f1x is the x-axis component of the first compensation force f1 in the spatial coordinate system, f1y is the y-axis component of the first compensation force f1 in the spatial coordinate system, f2x is the x-axis component of the second compensation force f2 in the spatial coordinate system, f2z is the z-axis component of the second compensation force f2 in the spatial coordinate system, and Δt is the interval time between adjacent frames. Proceed to the next step 23.

[0042] Furthermore, the active buffer module includes two first buffer motors, a second buffer motor, and two third buffer motors. Each of the first, second, and third buffer motors has a gap formed within its motor structure. The motor structure consists of a stator and a mover. The gap between the stator and mover avoids contact friction, thereby improving the instantaneous response speed of the active buffer module. The active buffer module drives the ramp active buffer in the following steps:

[0043] Step 231: The processing unit controls the first buffer motor to generate a reaction force that jointly resists a1x and a2x, thereby driving the slope to buffer the impact force of the falling coal mine in the x-axis direction, and proceeds to the next step 232.

[0044] Step 232: Control the second buffer motor to generate a reaction force to resist a1y and drive the slope to buffer the impact force of the falling coal mine in the y-axis direction, and proceed to the next step 233;

[0045] Step 233: Control the third buffer motor to generate a reaction force to resist the a2z, driving the slope to buffer the impact force of the falling coal mine in the z-axis direction, and proceed to the next step 34. Since the first buffer motor acts on the second buffer motor, the third buffer motor and the slope respectively, the first buffer motor needs to make a resistance action first when generating a reaction force. Similarly, the second buffer motor acts on the third buffer motor and the slope respectively, and the second buffer motor needs to make a resistance action in the second step. Since the falling acceleration generated by the falling coal mine changes the fastest, different coal mines will produce different accelerations when they come into contact with the slope at different times. Therefore, the buffering task of the third buffer motor accounts for most of the overall active buffering task and requires a faster response speed and force. Therefore, the third buffer motor is placed at the top and acts directly on the slope.

[0046] The present invention has the following beneficial effects:

[0047] 1. A suspended weighing structure is set at the discharge port to independently collect the weight of the coal block. Combined with the vision module to predict the motion state and the active and passive buffer modules to offset the impact, the weighing accuracy can be greatly improved. On the other hand, weighing before transportation can avoid the lag of weighing data and ensure the timeliness of subsequent accurate feeding.

[0048] 2. Design an interception module with percentage control to achieve refined slow feeding at the end of transportation, which can further improve the feeding accuracy of the transmission system.

[0049] 2. By combining the skip with re-weighing, the weighing parameters of the suspended weighing structure and conveyor belt can be automatically optimized during the continuous weighing process, thereby improving the accuracy of the data.

[0050] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0051] 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.

[0052] Figure 1 This is a flowchart of the control method for the transmission system based on the suspended weighing structure of the present invention;

[0053] Figure 2 This is a block diagram of the transmission system of the present invention;

[0054] Figure 3 This is a schematic diagram of the suspended weighing structure of the present invention;

[0055] Figure 4 This is an internal schematic diagram of the motor structure of the present invention.

[0056] The attached diagram lists the components represented by each number as follows:

[0057] In the diagram: 1-Second weighing module, 2-Passive buffer module, 3-First buffer motor, 4-Second buffer motor, 5-Third buffer motor, 6-Slope, 7-Motor structure, 71-Stator, 72-Motor. Detailed Implementation

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0059] Please see Figures 1-4 This invention provides a technical solution: a control method based on a suspended weighing structure transmission system, applied to a quantitative belt loading equipment. The quantitative belt loading equipment includes a processing unit, a first weighing module, a feeder, a conveyor belt, and a skip. The output end of the first weighing module is electrically connected to the input end of the processing unit. The first weighing module is located at the bottom of the conveyor belt and is used to weigh the conveyor belt and the entire coal mine being transported. The output end of the processing unit is electrically connected to the input ends of the feeder, the conveyor belt, and the skip, respectively. Figure 1 As shown, it includes the following steps:

[0060] Step 1: Initial deployment, such as Figure 2 As shown, a suspended weighing structure is deployed between the feeder and the conveyor belt, and a third weighing module is set at the bottom of the skip. The suspended weighing structure includes an active buffer module, a passive buffer module 2, and a second weighing module 1. The output ends of the second weighing module 1 and the passive buffer module 2 are electrically connected to the input end of the processing unit. The output end of the processing unit is electrically connected to the input end of the active buffer module. The output end of the third weighing module is electrically connected to the input end of the processing unit. An interception module is set at the feeder outlet, and the output end of the processing unit is electrically connected to the input end of the interception module. At the same time, vision modules are installed on the top and sides of the suspended weighing structure, and the output end of the vision modules is electrically connected to the input end of the processing unit. After completing the initial deployment, the processing unit executes steps 2 and 3 simultaneously.

[0061] Step 2: Set the loading capacity and continuous transport. The operator uses the industrial control computer to input the set loading capacity into the processing unit. The processing unit controls the feeder and conveyor belt to continuously transport the coal into the skip according to the loading capacity.

[0062] Step 3: Weighing and Compensation. During the coal transport process, the processing unit executes a weighing and statistics program. By controlling the suspended weighing structure, it calculates the first weight of the coal transported by the conveyor belt. The first weight is obtained by the second weighing module 1. When the coal transport process reaches its end, the final weight is 1% of the set total load. Of course, the percentage at the end of the coal transport process is not a fixed value. The operator can adjust the percentage at the end of the coal transport process using the industrial control computer. The adjustment range for the final weight is 0.1%-10%. Steps 2 and 3 are parallel. In step 2, while the conveyor belt is continuously transporting coal, the processing unit synchronously executes the weighing and statistics program to accumulate the first weight in real time until step 2 ends. The processing unit automatically executes the weighing compensation program to calculate the second weight of the coal that needs to be replenished and proceeds to the next step, step 4.

[0063] Step 4: The interception module executes slow feeding, and the processing unit executes a refined feeding program to control the interception module to close part of the feeder's outlet and slowly feed the material until the sum of the first weight and the second weight equals the set loading amount, then proceed to the next step 5;

[0064] Step 5: Recording and Feedback Optimization. After the conveyor belt completes the transportation of all coal, the third weighing module weighs the coal in the skip to obtain the third weight and transmits it to the processing unit. The processing unit executes the feedback optimization program to compare the third weight with the set load to obtain the iteration parameters of the optimized suspended weighing structure and the first weighing module. The first weighing module and the second weighing module 1 are recalibrated. The third weight is the weight information obtained by the skip when the coal is stationary. Therefore, the weighing information of the third weight is the most reliable and can help optimize the accuracy of the optimized weighing of the first weighing module and the second weighing module 1. However, the skip cannot obtain weight information in real time during transportation and there is still coal on the conveyor belt that has not been transported to the skip when the feeder stops feeding. Therefore, the main function of the third weight is still to optimize the second weighing module 1 in the suspended weighing structure and the first weighing module at the bottom of the conveyor belt. The suspended weighing structure is located between the feeder outlet and the conveyor belt. As the weighing device that first comes into contact with the coal, the iteration parameters of the second weighing module 1 have a higher weight.

[0065] The continuous transportation of coal in a coal mine using a feeder and conveyor belt specifically includes the following steps:

[0066] Step 21: The coal falls from the feeder outlet and proceeds to the next step, 22;

[0067] Step 22: Before the coal mine falls into the top slope 6 of the suspended weighing structure, the vision module continuously collects image information from the top and side views of the suspended weighing structure. The vision module transmits the image information to the processing unit, and then proceeds to step 23 and step 31 of the weighing statistics program.

[0068] Step 23: After the coal mine falls onto the top ramp 6 of the suspended weighing structure, the processing unit controls the active buffer module to drive the ramp 6 to actively buffer the falling coal mine based on the image information. The active buffer module and the passive buffer module 2 work together to buffer the falling coal mine. The passive buffer module 2 is used to buffer the vertical force when the coal mine falls, while the active buffer module is used to buffer the horizontal and vertical forces when the coal mine falls. If the active buffer module fails, the passive buffer module 2 can continue to perform the buffering task as a redundancy. The second weighing module 1 obtains the first mass of the coal mine on the ramp 6 and transmits it to the processing unit. Affected by the inclined surface of the ramp 6, the coal mine continues to slide downwards and falls onto the surface of the starting end of the conveyor belt. Simultaneously, the processing unit controls the conveyor belt to continuously transport coal towards the skip direction. The coal is transported to the end of the conveyor belt, and the first weighing module at the bottom of the conveyor belt obtains the second mass of the total mass of the coal on the conveyor belt and the surface of the conveyor belt and transmits it to the processing unit. The processing unit compares the first mass, the second mass and the set loading amount in real time to determine whether the coal transportation has reached the end stage. When either the first mass or the second mass reaches the value corresponding to the end stage of the set loading amount, the processing unit automatically executes the weighing compensation program. It should be noted that the first mass and the second mass are both data collected during the continuous transportation of coal. After being accumulated by the processing unit, an accurate value is obtained, and the weighing compensation program is entered in step 34.

[0069] The weighing and statistics procedure includes the following steps:

[0070] Step 31: The processing unit extracts the horizontal displacement d1 and vertical displacement d2 of each coal mine center point in adjacent frames from the image information, and proceeds to the next step 32;

[0071] Step 32: The processing unit calculates the horizontal motion vector a1 and vertical motion vector a2 of the coal mine as a whole in a falling state between adjacent frames based on the horizontal displacement d1 and the vertical displacement d2, and then proceeds to the next step 33.

[0072] Step 33: The processing unit calculates the first compensation force f1 in the horizontal direction of the slope 6 based on the horizontal motion vector a1, and calculates the second compensation force f2 in the vertical direction of the slope 6 based on the vertical motion vector a2. After the calculation is completed in step 33, the first compensation force f1 and the second compensation force f2 are sent to the active buffer module to execute the buffering action in step 23.

[0073] The weighing compensation procedure includes the following steps:

[0074] Step 34: The processing unit subtracts the weight of the conveyor belt from the second mass to obtain the third mass;

[0075] Step 35: The processing unit sets the iteration parameters of the first weighing module and the second weighing module 1. The iteration parameters are actually the calibration coefficients of the first weighing module and the second weighing module 1, with an adjustment range of 0.9853~1.0155. When the iteration parameter is less than 1, it means that the corresponding calculation result is reduced; conversely, when the iteration parameter is greater than 1, it means that the corresponding calculation result is increased. The actual value of the iteration parameter is determined based on the difference between the third weight and the first weight. The larger the difference, the higher the corresponding actual value. The iteration parameter must meet the condition that the change range of the iteration parameter of the second weighing module 1 is greater than the change range of the iteration parameter of the first weighing module. The change range is determined based on the actual coal transportation volume. When the suspended weighing module corresponding to the second weighing module 1 continuously weighs, the corresponding coal weight value is smaller and closer to the feeder outlet, so a higher adjustment sensitivity is required.

[0076] Step 36: The processing unit multiplies the first mass by the iteration parameter corresponding to the second weighing module 1 to obtain the first reference value, multiplies the third mass by the iteration parameter corresponding to the first weighing module to obtain the second reference value, and subtracts the average of the first and second reference values ​​from the set loading amount to obtain the second weight. The calculation weights corresponding to the first weighing module and the second weighing module 1 are different. By taking the average of the two reference values, a second weight that is closer to the actual weight of the coal mine is obtained.

[0077] The interception module is a discharge port baffle that can be controlled by a percentage. The overlap area between the baffle and the discharge port determines the interception degree of the interception module. The fine feeding program includes the following steps:

[0078] Step 41: The processing unit sets the interception percentage of the interception module. When the interception percentage is 0%, the baffle of the interception module does not overlap with the feeder outlet. When the interception percentage is 100%, the baffle of the interception module completely overlaps with the feeder outlet. Proceed to the next step 42.

[0079] Step 42: The processing unit continuously acquires and accumulates the weight of the falling coal from the second weighing module 1. The accumulated weight is divided by the second weight and then multiplied by 100% to obtain the interception percentage of the interception module. The processing unit controls the interception degree of the interception module according to the interception percentage. When the interception percentage of the interception module reaches the maximum value, the refined feeding program stops. When the interception percentage of the interception module reaches the maximum value, it means that the weight of the coal falling from the feeder outlet predicted by the second weighing module 1 has reached the second weight. At this time, the sum of the first weight and the second weight is equal to the set loading amount, and proceed to the next step 51.

[0080] The feedback optimization procedure includes the following steps:

[0081] Step 51: The processing unit controls the conveyor belt to continue conveying coal until the weight information collected by the first weighing module is marked as the fourth mass. The fourth mass is compared with the weight of the conveyor belt. When the two values ​​are equal or the fourth mass is less than the weight of the conveyor belt, the coal falls into the skip during the conveying process. The fourth mass will gradually decrease. If the fourth mass is less than the weight of the conveyor belt, it means that there may be an error in the first weighing module, which will not affect the subsequent weighing comparison of the skip. If the fourth mass is equal to the weight of the conveyor belt, all the coal on the surface of the conveyor belt is conveyed into the skip. The processing unit determines whether there is still coal remaining on the surface of the conveyor belt by comparing the weight information collected by the first weighing module with the weight of the conveyor belt. The processing unit controls the conveyor belt to stop conveying and proceeds to the next step 52.

[0082] Step 52: The processing unit obtains the weight information from the third weighing module and subtracts the weight of the skip to obtain the third weight. The processing unit compares the third weight with the set loading amount. If the third weight is greater than the set loading amount, it means that the weight calculated by the second weighing module 1 and the first weighing module is greater than the actual mass. The processing unit adjusts the iteration parameters of the first weighing module and the second weighing module 1 to less than 1. If the third weight is equal to the set loading amount, it means that the weight calculated by the second weighing module 1 and the first weighing module is close to the actual mass. The processing unit sets the iteration parameters of the first weighing module and the second weighing module 1 to 1. If the third weight is less than the set loading amount, it means that the weight calculated by the second weighing module 1 and the first weighing module is less than the actual mass. The processing unit adjusts the iteration parameters of the first weighing module and the second weighing module 1 to greater than 1, and the feedback optimization program stops. By changing the value of the iteration parameters, the calculation results of the weighing statistics program and the weighing compensation program are continuously optimized, so that the weight of the coal at the suspended weighing structure and the conveyor belt weighing point continuously approaches the set loading amount, thereby improving the weighing accuracy without affecting the continuous transportation of coal.

[0083] The calculation process for the horizontal displacement d1 and the vertical displacement d2 includes the following steps:

[0084] Step 311: While the vision module is acquiring images, it is necessary to enhance the illumination of the coal mine surface. The reason is that the coal mine is mainly black with weak texture features and insufficient edge features. It is necessary to supplement the light to increase the amount of information in the image information acquired by the vision module. The processing unit converts each frame in the image information into a grayscale image with a grayscale value range of 0-255. It calculates the grayscale value difference between each pixel in the image and its adjacent pixels and sorts them according to the value to obtain the first sequence, and then proceeds to the next step 312.

[0085] Step 312: The processing unit marks the median in the first sequence as the judgment threshold. When the median is not unique, the average of all medians is used as the judgment threshold. All pixels with gray value differences greater than the judgment threshold are marked as edge points, and the process proceeds to the next step 313.

[0086] Step 313: The processing unit connects the closest edge points in each frame to each other. When a single edge point is equidistant from multiple surrounding edge points, all edge points are connected. After all edge points are connected, the process proceeds to the next step 314.

[0087] Step 314: The processing unit marks the closed shape after connecting the edge points as the outline of a single coal mine. The processing unit establishes two non-parallel dividing lines within the outline. The number of pixels on both sides of the dividing lines is equal. The intersection of the two dividing lines is marked as the center point of the coal mine, and then proceeds to the next step 315.

[0088] Step 315: The processing unit connects the center points of each coal mine in adjacent frames of the image information acquired by the vision module from the top-down angle to obtain the first line segment l1, and connects the center points of each coal mine in adjacent frames of the image information acquired by the vision module from the side view to obtain the second line segment l2. Since the forward and backward movement distance of the coal mines in the adjacent frames of the image information is not large and the contours of each coal mine are different, the movement trajectory of the center point of the same coal mine in adjacent frames can be locked by the principle of proximity and contour similarity comparison. The processing unit adds up all the first line segments l1 in adjacent frames of the image information and calculates the average to obtain the horizontal displacement d1 between adjacent frames, and adds up all the second line segments l2 in adjacent frames of the image information and calculates the average to obtain the vertical displacement d2 between adjacent frames, and then proceeds to the next step 321.

[0089] The calculation process for the horizontal motion vector a1 and the vertical motion vector a2 includes the following steps:

[0090] Step 321: The processing unit establishes a spatial coordinate system, taking the conveyor belt's conveying direction as the reference line. It calculates the deviation angle between the motion direction of each coal mine and the reference line between adjacent frames from the top view angle of the vision module and sums them to obtain the horizontal angle θ1. The deviation angle can be positive or negative. The positive and negative numbers in the summation cancel each other out, similar to calculating the final average value of all deviation angles. It also calculates the deviation angle between the motion direction of each coal mine and the reference line between adjacent frames from the side view angle of the vision module and sums them to obtain the vertical angle θ2. The motion direction is the line connecting the center points of adjacent frames of the same coal mine.

[0091] Step 322: The processing unit substitutes the horizontal angle θ1 and the horizontal displacement d1 into Formula 1. The horizontal motion vector a1 is calculated, and the vertical angle θ2 and the vertical displacement d2 are substituted into formula two. The vertical motion vector a2 is calculated, and the process proceeds to the next step 331. Both the horizontal motion vector a1 and the vertical motion vector a2 are two-dimensional vectors. The horizontal motion vector a1 is represented by the x-axis and y-axis in the spatial coordinate system, and the vertical motion vector a2 is represented by the x-axis and z-axis in the spatial coordinate system. The x-axis is parallel to the reference line. The horizontal motion vector a1 and the vertical motion vector a2 are two components of the overall motion direction of the coal mine between adjacent frames, respectively, under the top-view and side-view angles. The active buffer module in the subsequent step 23 then actively buffers these two components to reduce the impact of the moving coal mine on the data collected by the second weighing module 1, thereby improving the reliability of the first mass data. The following are calculation examples of Formula 1 and Formula 2.

[0092] Formula 1: ;

[0093] Formula 2: .

[0094] The calculation process for the first compensation force f1 and the second compensation force f2 includes the following steps:

[0095] Step 331: Estimate the coal mine volume V. The processing unit calculates the estimated volume V of the coal mine based on the number of pixels of each coal mine in the image information. From the top view, the number of pixels of a single coal mine is counted as the cross-sectional area S1 of the coal mine. The height H1 of the coal mine is counted. Height H1 is the longest line segment parallel to the reference line and penetrating the coal mine. Height H2 is the longest vertical distance penetrating the coal mine. From the side view, the number of pixels of a single coal mine is counted as the cross-sectional area S2 of the coal mine. The height H2 of the coal mine is counted. The cross-sectional area S1 and the height H2 are multiplied to obtain the first volume v1. The cross-sectional area S2 and the height H1 are multiplied to obtain the second volume v2. The average of the first volume v1 and the second volume v2 is calculated to obtain the estimated volume V of the coal mine. Proceed to the next step 332.

[0096] Step 332: Calculate the total mass M of the coal mine. The processing unit adds the estimated volume V of each coal mine and multiplies it by the coal mine density to obtain the total mass M of the coal mine under the falling state between adjacent frames. The coal mine density is a preset parameter inside the processing unit and can be directly called for formula calculation. Proceed to the next step 333.

[0097] Step 333: The processing unit processes the data according to Formula 3. Calculate the first compensation force f1 according to Formula 4. Calculate the second compensation force f2, where a1x is the x-axis component of the horizontal motion vector a1 in the spatial coordinate system, a1y is the y-axis component of the horizontal motion vector a1 in the spatial coordinate system, a2x is the x-axis component of the vertical motion vector a2 in the spatial coordinate system, a2z is the z-axis component of the vertical motion vector a2 in the spatial coordinate system, f1x is the x-axis component of the first compensation force f1 in the spatial coordinate system, f1y is the y-axis component of the first compensation force f1 in the spatial coordinate system, f2x is the x-axis component of the second compensation force f2 in the spatial coordinate system, f2z is the z-axis component of the second compensation force f2 in the spatial coordinate system, and Δt is the interval time between adjacent frames. Proceed to the next step 23.

[0098] Among them, such as Figures 3-4 As shown, the active buffer module includes two first buffer motors 3, a second buffer motor 4, and two third buffer motors 5. Each of the first buffer motors 3, second buffer motor 4, and third buffer motor 5 has a gap formed internally by a motor structure 7. The motor structure 7 consists of a stator 71 and a mover 72. The gap between the stator 71 and the mover 72 avoids contact friction, thereby improving the instantaneous response speed of the active buffer module. The active buffer module drives the ramp 6 for active buffering, which includes the following steps:

[0099] Step 231: The processing unit controls the first buffer motor 3 to generate a reaction force that jointly resists a1x and a2x, driving the ramp 6 to buffer the impact force of the falling coal in the x-axis direction, and proceed to the next step 232.

[0100] Step 232: Control the second buffer motor 4 to generate a reaction force to resist a1y, which drives the ramp 6 to buffer the impact force of the falling coal mine in the y-axis direction, and proceed to the next step 233.

[0101] Step 233: Control the third buffer motor 5 to generate a reaction force against a2z, driving the ramp 6 to buffer the impact force of the falling coal mine in the z-axis direction, and proceed to the next step 34. Since the first buffer motor 3 acts on the second buffer motor 4, the third buffer motor 5 and the ramp 6 respectively, the first buffer motor 3 needs to make a resistance action first when generating a reaction force. Similarly, the second buffer motor 4 acts on the third buffer motor 5 and the ramp 6 respectively, and the second buffer motor needs to make a resistance action in the second step. Since the falling acceleration generated by the falling coal mine changes the fastest, different coal mines will produce different accelerations when they come into contact with the ramp 6. Therefore, the buffering task of the third buffer motor accounts for most of the overall active buffering task and requires a faster response speed and force. Therefore, the third buffer motor 5 is placed at the top and acts directly on the ramp 6.

[0102] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A control method based on a suspended weighing structure transmission system, characterized in that: This invention relates to a quantitative belt loading device, which includes a processing unit, a first weighing module, a feeder, a conveyor belt, and a skip. The first weighing module is located at the bottom of the conveyor belt. The invention comprises the following steps: Step 1: Deploy a suspended weighing structure between the feeder and the conveyor belt, set a third weighing module at the bottom of the skip, the suspended weighing structure includes an active buffer module, a passive buffer module (2) and a second weighing module (1), set an interception module at the feeder outlet, and set up a vision module on the top and side of the suspended weighing structure. Step 2: Input the set loading amount into the processing unit, and control the feeder and conveyor belt to continuously transport the coal. Step 3: When transporting coal, execute the weighing and statistics program to control the suspended weighing structure to count the first weight of coal transported by the conveyor belt. When the coal transport is at the end of the process, automatically execute the weighing compensation program to calculate the second weight of coal that needs to be replenished. Step 4: Execute the refined feeding program to control the interception module to slowly feed the material until the sum of the first weight and the second weight equals the set loading amount; Step 5: Recording and feedback optimization. After the conveyor belt completes the transportation of all coal, the third weighing module weighs the coal in the skip to obtain the third weight, executes the feedback optimization program to obtain the iteration parameters, and recalibrates the first and second weighing modules (1).

2. The control method for a transmission system based on a suspended weighing structure according to claim 1, characterized in that, The continuous transportation of coal mine by the feeder and conveyor belt specifically includes the following steps: Step 21: Coal falls from the feeder outlet; Step 22: Before the coal mine falls into the top slope (6) of the suspended weighing structure, the vision module continuously collects image information from the top and side views of the suspended weighing structure, and transmits the image information to the processing unit. Step 23: After the coal mine falls into the top slope (6) of the suspended weighing structure, the processing unit controls the active buffer module to drive the slope (6) to actively buffer the falling coal mine. The second weighing module (1) obtains the first mass of the coal mine on the slope (6) and transmits it to the processing unit. The coal mine continues to slide downwards due to the inclination of the slope (6) and falls into the surface of the starting end of the conveyor belt. At the same time, the conveyor belt continuously transports the coal mine in the direction of the skip. The coal mine is transported to the end of the conveyor belt. The first weighing module at the bottom of the conveyor belt obtains the second mass of the total coal mine on the conveyor belt and the surface of the conveyor belt and transmits it to the processing unit. The first mass, the second mass and the set loading amount are compared in real time, and the weighing compensation procedure is entered in step 34.

3. The control method for a transmission system based on a suspended weighing structure according to claim 1, characterized in that, The weighing and statistics procedure includes the following steps: Step 31: The processing unit extracts the horizontal displacement d1 and vertical displacement d2 of each coal mine center point in adjacent frames from the image information, and proceeds to the next step 32; Step 32: Calculate the horizontal motion vector a1 and vertical motion vector a2 of the coal mine as a whole in a falling state between adjacent frames based on the horizontal displacement d1 and the vertical displacement d2, and proceed to the next step 33; Step 33: Calculate the first compensation force f1 in the horizontal direction of the slope (6) based on the horizontal motion vector a1, and calculate the second compensation force f2 in the vertical direction of the slope (6) based on the vertical motion vector a2. After the calculation in step 33 is completed, send the first compensation force f1 and the second compensation force f2 to the active buffer module to execute the buffering action in step 23.

4. The control method for a transmission system based on a suspended weighing structure according to claim 2, characterized in that, The weighing compensation procedure includes the following steps: Step 34: The processing unit subtracts the weight of the conveyor belt from the second mass to obtain the third mass; Step 35: Set the iteration parameters of the first weighing module and the second weighing module (1), and adjust the range to 0.9853~1.0155. The change range of the iteration parameters of the second weighing module (1) is greater than the change range of the iteration parameters of the first weighing module. Step 36: Multiply the first mass by the iteration parameter corresponding to the second weighing module (1) to obtain the first reference value, multiply the third mass by the iteration parameter corresponding to the first weighing module to obtain the second reference value, and subtract the average of the first reference value and the second reference value from the set load to obtain the second weight.

5. The control method for a transmission system based on a suspended weighing structure according to claim 1, characterized in that, The interception module is a discharge port baffle that can be controlled by a percentage. The overlap area between the baffle and the discharge port represents the interception degree of the interception module. The refined feeding program includes the following steps when executed: Step 41: The processing unit sets the interception percentage of the interception module. When the interception percentage is 0%, the baffle and the discharge port do not overlap. When the interception percentage is 100%, the baffle and the discharge port completely overlap. Proceed to the next step 42. Step 42: Continuously obtain the weight of the falling coal from the second weighing module (1) and accumulate it. Divide the accumulated weight by the second weight and multiply by 100% to obtain the interception percentage of the interception module. Control the interception degree of the interception module according to the interception percentage. When the interception percentage of the interception module reaches the maximum value, the fine feeding program stops and proceeds to the next step 51.

6. The control method for a transmission system based on a suspended weighing structure according to claim 1, characterized in that, The feedback optimization procedure includes the following steps during execution: Step 51: The processing unit controls the conveyor belt to continue conveying coal until the weight information collected by the first weighing module is marked as the fourth mass. The fourth mass is compared with the self-weight of the conveyor belt. When the two values ​​are equal or the fourth mass is less than the self-weight of the conveyor belt, the conveyor belt stops conveying and proceeds to the next step 52. Step 52: Obtain the weight information from the third weighing module and subtract the weight of the skip to obtain the third weight. Compare the third weight with the set loading amount. If the third weight is greater than the set loading amount, the processing unit adjusts the iteration parameters of the first weighing module and the second weighing module (1) to less than 1. If the third weight is equal to the set loading amount, the iteration parameters of the first weighing module and the second weighing module (1) are set to 1. If the third weight is less than the set loading amount, the iteration parameters of the first weighing module and the second weighing module (1) are adjusted to greater than 1, and the feedback optimization program stops.

7. The control method for a transmission system based on a suspended weighing structure according to claim 3, characterized in that, The calculation process for the horizontal displacement d1 and the vertical displacement d2 includes the following steps: Step 311: The processing unit converts each frame of the image information into a grayscale image with a grayscale value range of 0-255. It calculates the grayscale value difference between each pixel and its adjacent pixels and sorts them according to the value to obtain the first sequence, and then proceeds to the next step 312. Step 312: Mark the median in the first sequence as the judgment threshold. If the median is not unique, use the average of all medians as the judgment threshold. Mark all pixels with gray value differences greater than the judgment threshold as edge points and proceed to the next step 313. Step 313: Connect the closest edge points in each frame to each other. Connect all edge points when the distance between a single edge point and multiple surrounding edge points is equal. After all edge points are connected, proceed to the next step 314. Step 314: Mark the closed shape formed by connecting the edge points as the outline of a single coal mine. Create two non-parallel dividing lines within the outline, with the number of pixels on both sides of the dividing lines being equal. Mark the intersection of the two dividing lines as the center point of the coal mine and proceed to the next step 315. Step 315: Connect the center points of each coal mine in adjacent frames of the image information acquired by the vision module from the top-down angle to obtain the first line segment l1. Connect the center points of each coal mine in adjacent frames of the image information acquired by the vision module from the side view to obtain the second line segment l2. Add up all the first line segments l1 in adjacent frames of the image information and average them to obtain the horizontal displacement d1 between adjacent frames. Add up all the second line segments l2 in adjacent frames of the image information and average them to obtain the vertical displacement d2 between adjacent frames. Proceed to the next step 321.

8. The control method for a transmission system based on a suspended weighing structure according to claim 3, characterized in that, The calculation process for the horizontal motion vector a1 and the vertical motion vector a2 includes the following steps: Step 321: The processing unit establishes a spatial coordinate system, takes the conveying direction of the conveyor belt as the reference line, calculates the deviation angle between the movement direction of each coal mine and the reference line between adjacent frames under the top view angle of the vision module, and sums them to obtain the horizontal angle θ1. Calculates the deviation angle between the movement direction of each coal mine and the reference line between adjacent frames under the side view angle of the vision module, and sums them to obtain the vertical angle θ2. The movement direction is the line connecting the center points of adjacent frames of the same coal mine. Step 322: Substitute the horizontal angle θ1 and the horizontal displacement d1 into Formula 1 The horizontal motion vector a1 is calculated, and the vertical angle θ2 and the vertical displacement d2 are substituted into formula two. The vertical motion vector a2 is calculated, and then proceed to the next step 331.

9. The control method for a transmission system based on a suspended weighing structure according to claim 3, characterized in that, The calculation process for the first compensation force f1 and the second compensation force f2 includes the following steps: Step 331: The processing unit calculates the estimated volume V of the coal mine based on the number of pixels of each coal mine in the image information. From the top view, the number of pixels of a single coal mine is counted as the cross-sectional area S1 of the coal mine, and the height H1 of the coal mine is counted. From the side view, the number of pixels of a single coal mine is counted as the cross-sectional area S2 of the coal mine, and the height H2 of the coal mine is counted. The cross-sectional area S1 and the height H2 are multiplied to obtain the first volume v1, and the cross-sectional area S2 and the height H1 are multiplied to obtain the second volume v2. The average value of the first volume v1 and the second volume v2 is calculated to obtain the estimated volume V of the coal mine. Step 332: Add the estimated volume V of each coal mine and multiply it by the coal mine density to obtain the total mass M of the coal mine under the falling state between adjacent frames; Step 333: According to Formula 3 Calculate the first compensating force f1 according to Formula 4. Calculate the second compensation force f2, where a1x is the x-axis component of the horizontal motion vector a1 in the spatial coordinate system, a1y is the y-axis component of the horizontal motion vector a1 in the spatial coordinate system, a2x is the x-axis component of the vertical motion vector a2 in the spatial coordinate system, a2z is the z-axis component of the vertical motion vector a2 in the spatial coordinate system, f1x is the x-axis component of the first compensation force f1, f1y is the y-axis component of the first compensation force f1, f2x is the x-axis component of the second compensation force f2, f2z is the z-axis component of the second compensation force f2, and Δt is the interval time between adjacent frames. Proceed to the next step 23.

10. The control method for a transmission system based on a suspended weighing structure according to claim 2, characterized in that, The active buffer module includes two first buffer motors (3), a second buffer motor (4), and two third buffer motors (5). The first buffer motor (3), the second buffer motor (4), and the third buffer motor (5) all have gaps formed inside through a motor structure (7). The motor structure (7) consists of a stator (71) and a mover (72). The active buffer module drives the ramp (6) to actively buffer by the following steps: Step 231: The processing unit controls the first buffer motor (3) to generate a reaction force to drive the ramp (6) to buffer the impact force of the falling coal in the x-axis direction, and proceeds to the next step 232; Step 232: Control the second buffer motor (4) to generate a reaction force to drive the ramp (6) to buffer the impact force of the falling coal in the y-axis direction, and proceed to the next step 233; Step 233: Control the third buffer motor (5) to generate a reaction force to drive the ramp (6) to buffer the impact force of the falling coal mine in the z-axis direction, and proceed to the next step 34.

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