A kind of automatic deviation rectifying device and control method of pipe belt machine unwinding section

Abstract

The embodiment of the application provides a kind of pipe belt machine unwinding section automatic deviation rectification device and control method, comprising: the structure parameters of groove type power deviation rectification roller group in pipe belt machine unwinding section automatic deviation rectification device and the width of adhesive tape are trigonometric function conversion, the projection length of groove type power deviation rectification roller group is obtained;Determine the time difference of groove type power deviation rectification roller group rotates in different directions until triggering limit switch;The area that left and right side rollers respectively expose adhesive tape end is identified by being interested in the region, and the area that left and right side rollers respectively expose adhesive tape end is obtained;The area, adhesive tape width and projection length are fused, and the actual deviation amount is obtained;According to actual deviation amount, the running time required for adhesive tape deviation is obtained;Based on the comparison result between the running time required for adhesive tape deviation and time difference, the adhesive tape is rectified, the change value of actual deviation amount is continuously calculated until the change value represents that the adhesive tape is returned to the center position.The deviation speed is more appropriate, and the effect of automatic deviation rectification is improved.

Description

Technical Field

[0001] This invention relates to the field of conveyor belt technology, and more specifically to an automatic correction device and control method for the unfolding section of a conveyor belt. Background Technology

[0002] Currently, conveyor belt conveyors are widely used in industries such as power, metallurgy, and ports, and there is a trend towards their development towards larger capacity and longer distances. The conveyor belt undergoes a shape change in the unfolding section and is closely related to the drive unit, cleaner, tensioning device, and unloading device. The unfolding section is often a major area prone to malfunctions, potentially leading to problems such as pipe expansion, belt misalignment, belt overlap, and personnel injury.

[0003] The most common fault in the unfolding section is belt misalignment. If the belt continues to misalign and cannot be detected or corrected in time, it may develop into belt stacking, causing downtime and permanent damage to the belt.

[0004] Currently, the technologies for addressing conveyor belt misalignment in conveyor systems generally focus on detecting changes in conveyor belt values, and the effectiveness of automatic correction is unsatisfactory. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic correction device and control method for the unfolding section of a conveyor belt, and the specific technical solution adopted is as follows: In a first aspect, embodiments of the present invention provide an automatic deviation correction control method for the unfolding section of a conveyor belt, the method comprising: The structural parameters and belt width of the trough-shaped power correction roller group in the automatic correction device of the unfolding section of the conveyor belt are converted by trigonometric functions to obtain the projected length of the trough-shaped power correction roller group. Determine the time difference between the rotation of the trough-shaped power correction roller group in different directions until the limit switch is triggered; The idler target detection algorithm module is used to identify the regions of interest of the exposed tape ends of the left and right idlers in the power correction idler group, and the area of ​​the exposed tape ends of the left and right idlers is obtained. The actual deviation of the conveyor belt corresponding to the grooved power correction roller group is obtained by combining the area of ​​the exposed ends of the left and right side idlers, the width of the conveyor belt, and the projected length. Based on the actual deviation amount, calculate the time point at which the tape enters different deviation identification zones to obtain the running time required for the tape to deviate. Based on the comparison between the running time required for the belt to deviate and the time difference, the belt is corrected, and the change in the actual deviation of the belt is continuously calculated until the change in the actual deviation indicates that the belt has returned to the center position of the conveyor.

[0006] Secondly, embodiments of the present invention provide an automatic correction device for the unfolding section of a conveyor belt machine. The device includes: a camera, a trough-shaped power correction roller group, and a control system. The camera is positioned above the center line of the conveyor belt and is used to acquire images of the conveyor belt from above and from top to bottom. The trough-shaped power correction roller assembly is installed under the conveyor belt in the unfolded section to support the conveyor belt; The control system is connected to the camera and the trough-shaped power correction roller group respectively. It is used to determine the state of the conveyor belt based on the image of the conveyor belt captured by the camera, and output control signals to the trough-shaped power correction roller group so that the trough-shaped power correction roller group can perform correction action on the conveyor belt.

[0007] Thirdly, a computer program product is provided, comprising: computer program code, which, when run on a computer, causes the computer to perform the method described in the first aspect.

[0008] Fourthly, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the method described in the first aspect.

[0009] This invention has the following beneficial effects: In the automatic correction device for the unfolding section of a conveyor belt, the projected length of the trough-shaped power correction idler group is obtained by performing trigonometric function conversion on the structural parameters and belt width of the trough-shaped power correction idler group in the automatic correction device for the unfolding section of the conveyor belt. Then, the trough-shaped power correction idler group is controlled to rotate in different directions until a limit switch is triggered, so as to accurately measure the time difference between the two triggering of the limit switch by the trough-shaped power correction idler group. Furthermore, the idler target detection algorithm module is used to identify the region of interest of the belt ends exposed by the left and right idlers in the power correction idler group, so as to accurately obtain the area of ​​the belt ends exposed by the left and right idlers. Then, by combining the area, belt width and projected length, the actual deviation of the belt corresponding to the trough-shaped power correction idler group can be accurately calculated, so as to dynamically adjust the correction action by analyzing the actual deviation. Finally, by calculating the actual deviation amount, the time point at which the conveyor belt enters different deviation detection zones is determined to obtain the required running time for belt deviation. Then, by comparing the required running time and the time difference, the conveyor belt is corrected in real time. During the correction process, the change in the actual deviation amount is continuously monitored until the change in the actual deviation amount indicates that the conveyor belt has returned to the center position of the conveyor. In this way, by automatically correcting the conveyor belt based on the required running time and the time difference for belt deviation, and continuously monitoring the change in the belt deviation value, the correction action is dynamically adjusted and output, making the correction action more appropriate and thus improving the effectiveness of automatic deviation correction. Attached Figure Description

[0010] To more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art 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.

[0011] Figure 1A This is a schematic diagram of the composition structure of an automatic correction device for the unfolding section of a conveyor belt provided in an embodiment of the present invention; Figure 1B This is a schematic diagram of the composition structure of the control system provided in an embodiment of the present invention; Figure 2 This is a schematic diagram illustrating the implementation process of an automatic deviation correction control method for the unfolding section of a conveyor belt provided in an embodiment of the present invention; Figure 3 This is a schematic diagram showing the values ​​of tape width B and projected length C provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of another implementation process of an automatic deviation correction control method for the unfolding section of a conveyor belt provided in an embodiment of the present invention; Figure 5This is a schematic diagram of roller area identification provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the deviation recognition area provided in an embodiment of the present invention; Figure 7 This is a schematic diagram illustrating another implementation of an automatic deviation correction control method for the unfolding section of a conveyor belt provided in an embodiment of the present invention. Figure 8 This is a schematic diagram of the structure of a computer block device provided in an embodiment of the present invention. Detailed Implementation

[0012] To further illustrate the technical means and effects adopted by the present invention to achieve its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effects of an automatic deviation correction control method for the unfolding section of a conveyor belt according to the present invention. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments may be combined from any suitable form.

[0013] In the description of the embodiments of the present invention, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present invention, "multiple" means two or more.

[0014] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0015] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0016] In related technologies, most solutions for dealing with belt misalignment on conveyor belts focus on how to detect belt deviation. However, there is a lack of research on how to dynamically adjust the correction rollers after belt misalignment is detected so that the correction speed matches the misalignment speed of the conveyor and prevents the conveyor from entering a state of vibration. As a result, the effect of automatic correction in actual engineering projects is not satisfactory.

[0017] Based on this, embodiments of the present invention, taking into account the structural characteristics of the conveyor belt system, determine a method for converting the image size of the conveyor belt system in the camera into its actual size. Targeting the structural characteristics of the conveyor belt system, a detection device and a correction device for the unfolding section are developed. An automatic correction control method is developed to automatically set parameters such as the correction action delay based on the characteristics of the conveyor belt system, thereby achieving balanced movement of the correction rollers.

[0018] This invention provides an automatic deviation correction device for the unfolding section of a conveyor belt. Please refer to [link / reference]. Figure 1A This illustration shows the structural composition of an automatic belt alignment device for the unfolding section of a conveyor belt according to an embodiment of the present invention. The device includes: a camera 100, a trough-shaped power alignment roller group 200, and a control system 300. The camera is positioned above the center line of the conveyor belt and is used to acquire images of the conveyor belt from above and downwards. The trough-shaped power alignment roller group is installed below the conveyor belt in the unfolding section and is used to support the conveyor belt. The control system is connected to both the camera and the trough-shaped power alignment roller group, and is used to determine the state of the conveyor belt based on the images acquired by the camera, and output control signals to the trough-shaped power alignment roller group to cause the trough-shaped power alignment roller group to perform alignment actions on the conveyor belt.

[0019] In some possible implementations, the trough-shaped guiding roller includes: a powered deflection structure and a stroke limiting device; wherein the powered deflection structure is used to perform a guiding action on the conveyor belt; and the stroke limiting device is used to automatically cut off the power when the guiding angle reaches its maximum.

[0020] Here, the automatic belt deviation correction device in the unfolded section of the conveyor belt consists of a camera 100, a trough-type powered deviation correction roller group 200, and a control system 300. The camera 100 is used to photograph the belt from above, looking downwards. The camera should be positioned above the theoretical center line of the belt, capturing the entire width of the belt in the image, and at least one set of rollers should be visible at both ends of the belt. The trough-type deviation correction rollers are powered deflection structures with travel limit devices; the power is automatically cut off when the deviation correction angle reaches its maximum. The trough-type powered deviation correction roller group is installed under the unfolded section of the belt, supporting it and generating a deviation correction force through its movement. The control system receives the images captured by the camera, judges the belt status, and outputs control signals to the powered trough-type rollers, causing them to perform deviation correction actions. The ratio of exposed rollers is used and converted into the absolute value of belt deviation. Furthermore, a deviation correction delay time is used to control the deviation correction rollers, making the deviation correction speed more appropriate.

[0021] In some embodiments, the control system 300 includes, for example, Figure 1B The four modules shown are: 1. Preset value module: By inputting the input parameters of this conveyor belt machine (such as idler trough angle, idler length, idler diameter, etc.), the conditions for further calculation are obtained.

[0022] 2. The idler roller target detection algorithm module, by acquiring the image from the camera, identifies the shape of the idler roller closest to the camera, and uses a rectangle to frame the exposed part of the idler roller as the target, and gives the exposed area A1 of the left idler roller and the exposed area A2 of the right idler roller.

[0023] 3. The belt misalignment identification module calculates the belt misalignment amount based on the idler area A1 and A2 output by the idler target detection algorithm module, and obtains the belt misalignment speed by combining the state change time.

[0024] 4. The correction action control module dynamically corrects and outputs the correction action speed of the correction device based on the deviation amount L output by the belt deviation module and the belt deviation speed.

[0025] This invention provides an automatic deviation correction control method for the unfolding section of a conveyor belt. Please refer to [link to relevant documentation]. Figure 2 This illustrates the implementation flow of an automatic deviation correction control method for the unfolding section of a conveyor belt according to an embodiment of the present invention. The method includes: 201. The structural parameters and belt width of the trough-shaped power correction roller group in the automatic correction device of the unfolding section of the conveyor belt are converted by trigonometric functions to obtain the projected length of the trough-shaped power correction roller group.

[0026] Here, the structural parameters of the trough-type power-guided idler set include: trough angle, idler length, and idler diameter.

[0027] In some possible implementations, the user inputs the belt width B, along with the trough angle, length, and diameter of the trough idler rollers, into the preset value module of the control system. Based on trigonometric relationships, the projected length C of the trough idler roller group is calculated. The belt width B, when the belt is not misaligned, theoretically results in a single idler roller exposed length of 0.5*(CB). According to section 4.2.2 of national standard GB10595, the misalignment judgment threshold D is determined (e.g., when B=800, D=40), thus determining the length of the belt exposed on the left and right idlers when the misalignment judgment threshold is reached. The belt width B and projected length C are as follows: Figure 3 As shown.

[0028] 202, determine the time difference between the rotation of the trough-shaped power correction roller group in different directions until the limit switch is triggered.

[0029] Here, the trough-shaped dynamic alignment idler group is controlled to rotate in different directions until a limit switch is triggered, and the time difference between the two triggering of the limit switch is measured. Upon initial system startup, the control system initializes and measures the movement of the alignment idler. The measurement method is as follows: the control system controls the alignment idler to rotate counterclockwise until a limit switch is triggered, then immediately controls the alignment idler to rotate clockwise until a limit switch on the other side is triggered, and the time difference between the two limit switch triggerings is recorded.

[0030] 203. The idler target detection algorithm module is used to identify the regions of interest of the exposed tape ends of the left and right idlers in the power correction idler group, and the area of ​​the exposed tape ends of the left and right idlers is obtained.

[0031] Here, the idler target detection algorithm module is activated. Using a model trained on the idler target, it detects the areas A1 and A2 of the left and right idlers protruding from the conveyor belt ends. These areas are dimensionless values ​​displayed on the screen. This idler target detection algorithm module can be implemented using a neural network for target detection, such as a convolutional neural network or a residual neural network. The idler target detection algorithm module, by capturing images from the camera, identifies the shape of the idler closest to the camera, marks the protruding parts of the idler with rectangular bounding boxes, and provides the exposed areas A1 of the left idler and A2 of the right idler.

[0032] 204. The area of ​​the exposed ends of the belt on the left and right side idlers, the width of the belt, and the projected length are combined to obtain the actual belt deviation amount corresponding to the grooved power correction idler group.

[0033] Here, after obtaining the projected length C and the belt width B, the length of the left and right idler rollers protruding from the belt ends is calculated using the difference between C and B. The protrusion length ratio is then calculated using this value, and a conversion factor is obtained by combining the deviation judgment threshold and the belt width. By combining this conversion factor with the area of ​​the left and right idler rollers protruding from the belt ends and the belt width, the actual deviation of the belt corresponding to the trough-type dynamic correction idler roller group can be calculated.

[0034] In some possible implementations, the areas exposed at the ends of the conveyor belt by the left and right idler rollers respectively include: a first area and a second area, and step 204 above can be achieved through... Figure 4 The steps shown are to be implemented as follows: 401. Based on the first area and the second area, calculate the area ratio of the exposed areas of the left and right idlers.

[0035] Here, the ratio K of the exposed areas of the left and right idlers is obtained by dividing the smaller exposed area by the larger exposed area.

[0036] 402. Based on the difference between the projected length and the tape width, calculate the two length values ​​of the left and right idlers that are exposed at the ends of the tape when the tape reaches the deviation judgment limit.

[0037] 403, determine the first ratio between the deviation judgment limit and the tape width, and the second ratio between the two length values.

[0038] 404. The ratio between the second ratio and the first ratio is determined as the conversion factor.

[0039] In steps 402 to 404 above, when the conveyor belt is not misaligned, the theoretical exposed length of a single idler roller is 0.5*(CB). Based on the conveyor belt width B, refer to section 4.2.2 of standard GB10595 to determine the misalignment threshold D (e.g., when B=800, D=40). This determines the exposed lengths E1 and E2 of the left and right idler rollers when the misalignment threshold is reached (assuming E1 is greater than E2 in this case). Divide the longer exposed length (E1) by the shorter exposed length (E2) to obtain the ratio K1 (the second ratio) of the exposed lengths of the left and right idler rollers. Then divide K1 by the "first ratio between the misalignment threshold D and the conveyor belt width B" to obtain the conversion factor u, u=K1 / (D / B).

[0040] 405. The area ratio, the conversion factor, and the tape width are combined to obtain the actual deviation amount.

[0041] Here, the actual deviation L of the tape is obtained using the formula L=u*K*B. Where the first area A1 and the second area A2 are as follows... Figure 5 As shown. Thus, since the method of comparing the exposed area of ​​the idler rollers is used to obtain the deviation amount, it is only necessary to ensure that the camera is installed directly above the conveyor belt, without needing to accurately measure the installation distance from the camera to the idler roller, which simplifies installation. In this way, by capturing the image from the camera and using existing technology, the shape of the idler roller closest to the camera is identified, and a rectangular frame is used to enclose the exposed portion of the idler roller as the target, providing the exposed area A1 of the left idler roller and the exposed area A2 of the right idler roller.

[0042] 205. Based on the actual deviation amount, calculate the time point at which the tape enters different deviation identification zones to obtain the running time required for the tape to deviate.

[0043] Here, the tape deviation identification module is activated to identify the tape deviation according to the actual deviation amount, so as to obtain the running time required for the tape deviation.

[0044] In some possible implementations, step 205 above can be achieved through the following steps 251 to 253 (not shown in the figures): 241, determine the first time point at which the actual deviation of the tape enters the preparatory area of ​​the deviation identification zone.

[0045] Here, the range of the preparation area includes: from the theoretical edge when the tape does not deviate to the preset offset amount; the range of the deviation area includes: from the preset offset amount to the deviation judgment limit; the preset offset amount is a deviation judgment limit of a preset proportion.

[0046] In some possible implementations, by activating the conveyor belt misalignment detection module, the conveyor misalignment detection area is divided into a preparation area and a misalignment area. The width of the preparation area is from the theoretical edge of the belt when it is not misaligned to 0.5D, and the width of the misalignment area is from 0.5D to D; where D is the misalignment judgment limit.

[0047] 252. If the tape continues to deviate from the preparatory area and enters the deviation area, determine the second time point when it enters the deviation area.

[0048] 253, the difference between the first time point and the second time point is taken as the running time required for the tape to deviate.

[0049] Here, after the conveyor starts running, the actual belt misalignment L value is used for judgment. If the belt misalignment enters the preparation zone, the belt misalignment identification module records the first time point t1 of entering the preparation zone. If the belt continues to misalign and enters the misalignment zone, the belt misalignment identification module obtains the second time point t2 of entering the misalignment zone, thus obtaining the required running time t3 = t2 - t1 for the belt misalignment, and obtaining the current belt misalignment speed v = 0.5D / t3. The preparation zone and the misalignment zone are as follows: Figure 6 As shown. In this way, by analyzing the first time point when the conveyor belt enters the preparation area and the second time point when it continues to enter the deviation area from the preparation area, the running time required for the conveyor belt to deviate can be accurately calculated, and thus the current deviation speed of the conveyor belt can be obtained.

[0050] 206. Based on the comparison between the running time required for the belt to deviate and the time difference, the belt is corrected, and the change in the actual deviation of the belt is continuously calculated until the change in the actual deviation indicates that the belt has returned to the center position of the conveyor.

[0051] Here, the time required for the idler roller to go from the neutral position to being completely corrected to one side is calculated using this time difference. This one-sided time is combined with the running time required for the conveyor belt to run off track, and a corresponding correction signal is generated. In response to this correction signal, the conveyor belt can be corrected in a timely manner.

[0052] In some possible implementations, the time difference is first integrated with a preset ratio to obtain the single-sided time required for the trough-shaped power correction roller group to go from a neutral position to complete correction to one side.

[0053] Here, the preset ratio can be a custom value, such as one-half. In this way, one-half of the time difference is the time required for the idler roller to go from the neutral position to being completely corrected to one side, which is recorded as the single-side time tq to complete the system initialization.

[0054] Secondly, if the running time required for the tape to deviate is less than or equal to the time on one side, a correction signal carrying a preset duration is output.

[0055] Here, the preset duration can be 1 second, meaning that the correction signal is used to instruct the trough-type power correction idler group to perform a 1-second correction action.

[0056] Finally, in response to the correction signal, the trough-shaped power correction roller group performs the deflection action for the preset duration at the current deviation speed and then stops at the current position. The change value of the actual deviation of the conveyor belt is continuously detected until the change value indicates that the conveyor belt has been continuously corrected and has left the preparation area. The conveyor belt is then determined to have returned to the center position of the conveyor, so as to complete the correction of the conveyor belt.

[0057] Here, the required running time t3 for the conveyor belt to deviate is compared with the single-sided time tq. If t3 ≤ tq, it means that the current movement speed of the correction mechanism is lower than the rate of change of deviation, which is feasible. Then the correction action module will output a 1-second correction signal, and the trough-type power correction roller will deflect for 1 second and stop at its current position, and then jump to step 206.

[0058] In some possible implementations, if the required running time for the belt to deviate is greater than the one-sided time, a delay time is determined based on the required running time for the belt to deviate and the one-sided time, and a correction signal carrying a preset duration is output; in response to the correction signal, the trough-shaped power correction roller group performs the deflection action for the preset duration at the current deviation speed and then stops at the current position, and when the duration of the trough-shaped power correction roller group at the current position reaches the delay time, the change value of the actual deviation of the belt is detected until the change value indicates that the belt has continuously returned to the correct position and has left the preparation area, and the belt is determined to have returned to the center position of the conveyor to complete the correction of the belt.

[0059] Here, if the required running time for the conveyor belt to deviate is greater than the one-sided time, a delay time is determined based on the required running time and the one-sided time, and a correction signal carrying a preset duration is output. In response to the correction signal, the trough-type power correction roller group performs the preset duration of deflection and then stops at its current position. When the duration of the trough-type power correction roller group at its current position reaches the delay time, the change in the actual amount of conveyor belt deviation is detected until the change indicates that the conveyor belt has returned to the correct position, thus completing the correction of the conveyor belt. For example, if t3 > tq, it indicates that the current movement speed of the trough-type power correction roller group is too fast, which may cause instability in the system. A delay time T needs to be added, where T = t3 / tq - 1. A correction signal carrying a delay time is output, which is a 1-second correction signal. The trough-type power correction roller group will deflect for 1 second and then stop at its current position. The process waits for T seconds before jumping to step 205. In this way, by setting a delay time, the correction delay time is used to control the trough-type dynamic correction roller group, so that the correction action speed is more appropriate.

[0060] In some embodiments, firstly, during the process of correcting the tape deviation, the change value of the actual deviation of the tape is continuously detected; secondly, if the change value continues to increase, the dynamic deviation speed of the tape during the continuous deviation process is determined.

[0061] Here, if the change value continues to increase, multiple correction signals carrying a preset duration are continuously output; the actual deviation of the tape under each correction signal is determined, resulting in multiple actual tape deviation values; the derivative of these multiple actual tape deviation values ​​is calculated to obtain the dynamic deviation speed. For example, during the correction process, the change value of the tape is continuously detected, and the change in the value of L is recorded. If L continuously increases, it indicates that the tape is continuously deviating, so correction signals need to be continuously output. By differentiating the continuously recorded L values ​​to obtain the dynamic deviation speed, the real-time performance and accuracy of calculating the dynamic deviation speed can be improved.

[0062] Finally, the required running time for the belt to deviate is updated based on the dynamic deviation speed to obtain the updated running time; and the belt is corrected based on the comparison between the updated running time and the time difference, and the change value of the actual deviation of the belt is continuously calculated until the change value of the actual deviation indicates that the belt has returned to the center position of the conveyor.

[0063] Here, after differentiating the recorded L value, the dynamic deviation speed of the tape during continuous deviation is obtained, t3 is updated, and the process returns to step 204 for further processing. In this way, by updating the required running time for tape deviation in a timely manner, the correction angle and correction speed of the tape can be adjusted promptly, thereby enabling rapid tape straightening.

[0064] In some possible implementations, if the change value does not increase and the actual deviation of the conveyor belt remains within the preparation zone, the conveyor belt is corrected using the current correction angle of the trough-type dynamic correction idler group, and the change value of the actual deviation of the conveyor belt is continuously detected until the conveyor belt returns to the center position of the conveyor. During this process, if the change value does not increase and the conveyor belt continues to return to the center position until the actual deviation of the conveyor belt leaves the current preparation zone, the actual deviation of the conveyor belt of the trough-type dynamic correction idler group is recalculated and the conveyor belt is corrected.

[0065] Here, if the actual deviation L does not increase or begins to decrease, it indicates that the conveyor belt is no longer exacerbating the deviation and is beginning to return to the correct position. In this case, it is no longer necessary to increase the correction angle of the correction roller. There are two scenarios in the current state: Scenario 1: The conveyor belt remains within the current preparation area, then continue executing step 205; Scenario 2: The conveyor belt continues to return to the correct position until it leaves the current preparation area, then return to step 203 and re-execute the correction process.

[0066] In this embodiment of the invention, the projected length of the trough-shaped power-guided idler group can be accurately determined by the input parameters of the idler group. Then, based on the projected length, the time difference between two triggering of the limit switch by the idler group is measured. Using an idler target detection model based on the time difference, the actual belt deviation of the trough-shaped power-guided idler group can be accurately calculated. Finally, by identifying the actual belt deviation, the required running time for belt deviation is obtained. The belt is then corrected using the required running time and time difference, and the change value of the belt is detected until the change value meets a preset condition to complete the belt correction. Thus, by automatically correcting the belt using the required running time and time difference for belt deviation and continuously detecting the change value of the belt, the correction action speed of the correction device is dynamically corrected and output, making the correction speed more appropriate, thereby improving the effect of automatic correction.

[0067] In some embodiments, the automatic deviation correction control method for the unfolding section of a conveyor belt provided by the present invention can be achieved through... Figure 7 The process shown is implemented as follows: After the control system is started, each module in the control system performs the following steps one through six: The first step is to activate the preset value module to obtain the conversion deviation coefficient u; The second step is to initialize the system and obtain the roller deflection time. The third step is to activate the idler roller target detection algorithm module to obtain the actual deviation of the conveyor belt; The fourth step is to activate the tape deviation detection module to obtain the tape deviation speed and time difference. Fifth step, activate the correction module; If t3≤tq, output a 1-second correction signal to the trough-type power correction roller group; if t3>tq, add a delay time, output a 1-second correction signal to the trough-type power correction roller group, and after the delay time is reached, proceed to step six.

[0068] Step 6: The idler roller target detection algorithm module obtains the actual belt deviation amount L.

[0069] If the value of L continues to increase, it indicates that the tape is continuously deviating, and a continuous correction signal needs to be output. By differentiating the continuously recorded L values, the dynamic deviation speed of the tape during the continuous deviation process is obtained, updated to t3, and the process returns to step four. If L does not increase or L begins to decrease, proceed to the next step to determine whether the tape is within the current preparation area. If the tape remains within the current preparation area, step six continues; if the tape continues to correct itself until it leaves the current preparation area, return to step three and start working in sequence again.

[0070] Optionally, the transmission medium can be a wired link (e.g., but not limited to, coaxial cable, optical fiber, and Digital Subscriber Line (DSL)) or a wireless link (e.g., but not limited to, Wireless Fidelity (WIFI), Bluetooth, and mobile block device networks). It should be noted that the control block device provided in the above embodiments is only an example illustrating the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the computer block device can be divided into different functional modules to complete all or part of the functions described above. Furthermore, the method embodiments provided in the above embodiments belong to the same concept, and their specific implementation processes are detailed in the method embodiments, and will not be repeated here.

[0071] Figure 8 This is a schematic diagram of the structure of a computer block device provided in an embodiment of the present invention. For example, as shown... Figure 8 As shown, the computer block device 800 includes: a memory 801, a processor 802, and a computer program 803 stored in the memory 801 and running on the processor 802. When the processor 802 executes the computer program 803, the computer block device can execute any of the aforementioned automatic correction control methods for the unfolding section of the conveyor belt.

[0072] Furthermore, embodiments of the present invention also protect a control device, which may include a memory and a processor. The memory stores executable program code, and the processor is used to call and execute the executable program code to perform an automatic correction control method for the unfolding section of a conveyor belt provided by the embodiments of the present invention. Embodiments of the present invention can divide the control device into functional modules based on the above method examples. For example, each module may correspond to a specific function, or two or more functions may be integrated into a processing module. The integrated module can be implemented in hardware. It should be noted that the module division in the embodiments of the present invention is illustrative and only represents a logical functional division; other division methods may exist in actual implementation. It should also be noted that all relevant content of each step involved in the above method embodiments can be referenced to the functional description of the corresponding functional module, and will not be repeated here. It should be understood that the control block device provided by the embodiments of the present invention is used to execute the above-mentioned automatic correction control method for the unfolding section of a conveyor belt, and therefore can achieve the same effect as the above-described implementation method. When using integrated units, the control block device may include a processing module and a storage module. When the control block device is applied to a block device, the processing module can be used to control and manage the actions of the block device. The storage module can be used to support block devices in executing mutual program code, etc. The processing module can be a processor or controller, which can implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this invention. The processor can also be a combination of functions that implement computing capabilities, such as a combination of one or more microprocessors, a combination of Digital Signal Processing (DSP) and microprocessors, etc., and the storage module can be a memory.

[0073] Furthermore, the control block device provided in the embodiments of the present invention may specifically be a chip, component, or module. The chip may include a connected processor and a memory; wherein, the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute the automatic correction control method for the unfolding section of a tube conveyor provided in the above embodiments. The embodiments of the present invention also provide a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the aforementioned method steps to implement the automatic correction control method for the unfolding section of a tube conveyor provided in the above embodiments.

[0074] This invention also provides a computer program product. When the computer program product is run on a computer, it causes the computer to execute the aforementioned related steps to achieve the automatic correction control method for the unfolding section of a tube conveyor provided in the above embodiments. The control block device, computer-readable storage medium, computer program product, or chip provided in this invention are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they achieve can be referred to in the beneficial effects of the corresponding methods provided above, and will not be repeated here. Through the description of the above embodiments, those skilled in the art can understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the control block device can be divided into different functional modules to complete all or part of the functions described above. In the embodiments provided by this invention, it should be understood that the disclosed control block device and method can be implemented in other ways. For example, the control block device embodiments described above are merely illustrative. For example, the division of modules or units is only a logical functional division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another control block device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, control block device or unit, and can be electrical, mechanical or other forms.

[0075] It should be noted that the order of the above embodiments of the present invention is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired results. In some embodiments, multiple task processing and parallel processing are possible or may be advantageous. The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. The above content is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be covered within the protection scope of the present invention.

Claims

1. An automatic deviation correction control method for the unfolding section of a conveyor belt, characterized in that, The method includes: The structural parameters and belt width of the trough-shaped power correction roller group in the automatic correction device of the unfolding section of the conveyor belt are converted by trigonometric functions to obtain the projected length of the trough-shaped power correction roller group. Determine the time difference between the rotation of the trough-shaped power correction roller group in different directions until the limit switch is triggered; The idler target detection algorithm module is used to identify the regions of interest of the exposed tape ends of the left and right idlers in the power correction idler group, and the area of ​​the exposed tape ends of the left and right idlers is obtained. The actual deviation of the conveyor belt corresponding to the grooved power correction roller group is obtained by combining the area of ​​the exposed ends of the left and right side idlers, the width of the conveyor belt, and the projected length. Based on the actual deviation amount, calculate the time point at which the tape enters different deviation identification zones to obtain the running time required for the tape to deviate. Based on the comparison between the running time required for the belt to deviate and the time difference, the belt is corrected, and the change in the actual deviation of the belt is continuously calculated until the change in the actual deviation indicates that the belt has returned to the center position of the conveyor.

2. The method according to claim 1, characterized in that, The step of calculating the time point at which the tape enters different tape deviation detection zones based on the actual deviation amount, and calculating the running time required for tape deviation, includes: Determine the first time point at which the actual deviation of the tape enters the preparatory area of ​​the deviation identification zone; If the tape continues to deviate from the preparatory area and enters the deviation area, a second time point is determined when it enters the deviation area; wherein, the range of the preparatory area includes: from the theoretical edge when the tape is not deviating to a preset offset amount, and the range of the deviation area includes: from the preset offset amount to the deviation judgment limit; the preset offset amount is a deviation judgment limit of a preset proportion. The difference between the first time point and the second time point is taken as the running time required for the tape to deviate.

3. The method according to claim 2, characterized in that, The step of correcting the belt based on the comparison between the required running time for the belt to deviate and the time difference, and continuously calculating the change in the actual deviation of the belt until the change in the actual deviation indicates that the belt has returned to the center position of the conveyor, includes: By combining the time difference with a preset ratio, the single-sided time required for the trough-shaped power correction roller group to go from a neutral position to being completely corrected to one side is obtained. If the running time required for the tape to deviate is less than or equal to the time on one side, a correction signal carrying a preset duration is output. In response to the correction signal, the trough-shaped power correction roller group performs a deflection action for the preset duration at the current deviation speed and then stops at the current position. The change value of the actual deviation of the conveyor belt is continuously detected until the change value indicates that the conveyor belt has been continuously corrected and has left the preparation area. The conveyor belt is then determined to have returned to the center position of the conveyor, so as to complete the correction of the conveyor belt.

4. The method according to claim 3, characterized in that, The method further includes: If the running time required for the tape to deviate is greater than the time on one side, a delay time is determined based on the running time required for the tape to deviate and the time on one side, and a correction signal carrying a preset duration is output. In response to the correction signal, the trough-shaped power correction roller group performs a deflection action for the preset duration at the current deviation speed and then stops at the current position. When the duration of the trough-shaped power correction roller group at the current position reaches the delay time, the change value of the actual deviation of the conveyor belt is detected until the change value indicates that the conveyor belt has been continuously corrected and has left the preparation area. It is then determined that the conveyor belt has been corrected to the center position of the conveyor, so as to complete the correction of the conveyor belt.

5. The method according to claim 3, characterized in that, The method further includes: During the process of correcting the deviation of the tape, the change in the actual deviation of the tape is continuously monitored; If the change value continues to increase, determine the dynamic deviation speed of the tape during the continuous deviation process; Based on the dynamic deviation speed, update the required running time for the belt deviation to obtain the updated running time; Based on the comparison between the updated running time and the time difference, the conveyor belt is corrected, and the change in the actual deviation of the conveyor belt is continuously calculated until the change in the actual deviation indicates that the conveyor belt has returned to the center position of the conveyor.

6. The method according to claim 5, characterized in that, If the change value continues to increase, determining the dynamic deviation speed of the tape during the continuous deviation process includes: If the change value continues to increase, multiple correction signals carrying a preset duration will be continuously output. Determine the actual deviation of the tape under various correction signals; The dynamic deviation speed is obtained by differentiating the actual deviation of the multiple tapes.

7. The method according to claim 3, characterized in that, The method further includes: If the change value does not increase and the actual deviation of the conveyor belt remains in the preparation area, the conveyor belt is corrected at the current correction angle of the trough-type power correction roller group, and the change value of the actual deviation of the conveyor belt is continuously detected until the conveyor belt returns to the center position of the conveyor. If the change value does not increase and the conveyor belt continues to return to the correct position until the actual deviation of the conveyor belt leaves the current preparation zone, the actual deviation of the conveyor belt of the trough-type power correction roller group is recalculated and the conveyor belt is corrected.

8. The method according to claim 1, characterized in that, The areas of the left and right side idlers exposed at the ends of the conveyor belt include: a first area and a second area. The actual belt deviation amount corresponding to the trough-shaped dynamic correction idler group is obtained by fusing the areas of the left and right side idlers exposed at the ends of the conveyor belt, the width of the conveyor belt, and the projected length. Based on the first area and the second area, calculate the area ratio of the exposed areas of the left and right idlers; Based on the difference between the projected length and the tape width, calculate the two length values ​​of the left and right idlers that are exposed at the ends of the tape when the tape reaches the deviation judgment limit. Determine a first ratio between the deviation judgment limit and the tape width, and a second ratio between the two length values; The ratio between the second ratio and the first ratio is determined as the conversion factor; The actual deviation amount is obtained by combining the area ratio, the conversion factor, and the tape width.

9. An automatic deviation correction device for the unfolding section of a conveyor belt machine, characterized in that, include: The system includes a camera, a trough-shaped power-guided roller assembly, and a control system; wherein the camera is positioned above the center line of the conveyor belt and is used to capture images of the conveyor belt from above and from top to bottom. The trough-shaped power correction roller assembly is installed under the conveyor belt in the unfolded section to support the conveyor belt; The control system is connected to the camera and the trough-shaped power correction roller group respectively. It is used to determine the state of the conveyor belt based on the image of the conveyor belt captured by the camera, and output control signals to the trough-shaped power correction roller group so that the trough-shaped power correction roller group can perform correction action on the conveyor belt.

10. The apparatus according to claim 9, characterized in that, The grooved guiding roller assembly includes: a powered deflection structure and a stroke limiting device; wherein, the powered deflection structure is used to guide the belt; and the stroke limiting device is used to automatically cut off the power when the guiding angle reaches its maximum.

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