High speed belt conveyor correction system and method

Abstract

This application relates to the field of automation control technology, and discloses a high-speed belt conveyor deviation correction system and method. The method includes: determining whether the belt is offset relative to the conveyor based on the current position signal of the belt on the conveyor; if offset, determining the current offset parameter of the belt relative to the conveyor based on the position signal; constructing a motor control quantity prediction term based on the current offset parameter, applying preset constraints to the motor control quantity prediction term and solving for the current motor extension / retraction control quantity of the execution unit at the current moment; and generating a belt deviation correction command based on the current motor extension / retraction control quantity. Using the above method, real-time automatic identification and accurate correction of belt deviation can be achieved, effectively eliminating the reliance on manual inspection and experience-based adjustments.

Description

Technical Field

[0001] This application relates to the field of automation control technology, and in particular to a high-speed belt conveyor correction system and method. Background Technology

[0002] In tobacco processing production lines, belt conveyors are core auxiliary equipment for continuous material transport, and their operational stability directly determines the continuity of the entire production line and the consistency of the process.

[0003] However, conveyor belt misalignment is the most common and frequent failure mode of this type of equipment. If it is not identified and intervened in time, it will cause problems such as material spillage, material leakage along the line, and abnormal belt wear. In severe cases, it may lead to belt tearing, structural deformation, and foreign matter such as rubber powder and rubber filaments mixed into the material due to friction, forming a major quality hazard. Summary of the Invention

[0004] In view of this, embodiments of this application provide a high-speed belt conveyor correction system and method, which can effectively solve the technical problem of conveyor belt deviation.

[0005] In a first aspect, embodiments of this application provide a high-speed belt conveyor correction system, the system comprising: The detection unit is used to acquire the position signal of the belt on the conveyor at the current moment; The control unit is configured to determine, based on the position signal, whether the belt is offset relative to the conveyor, and if offset, to determine, based on the position signal, the current offset parameter of the belt relative to the conveyor at the current moment. The control unit is further configured to construct a motor control quantity prediction term using the current offset parameter, apply preset constraints to the motor control quantity prediction term and solve for them to obtain the current motor extension control quantity of the execution unit at the current moment; and generate a belt correction command based on the current motor extension control quantity. The execution unit is used to execute the belt correction command and reset the belt to a position aligned with the conveyor.

[0006] In some embodiments, the control unit obtains the current motor extension / retraction control quantity of the execution unit at the current moment, and the current belt feedforward parameter of the belt at the current moment; The current offset parameter, the current motor extension control quantity, and the current belt feedforward parameter are input into the spatial position prediction model as the first initial conditions to predict the predicted offset parameter of the belt at the prediction time. The predicted offset parameter is used as the second initial condition and input into the motor control quantity prediction model to obtain the motor control quantity prediction term. Preset constraints are applied to the motor control quantity prediction term and solved to obtain the current motor extension / retraction control quantity of the execution unit at the current time.

[0007] In some embodiments, the preset constraints include the range of telescopic parameters of the telescopic motor in the execution unit and the safety deviation threshold of the belt.

[0008] In some embodiments, the control unit is configured to determine a first weighted square term between the predicted offset parameter and the actual offset parameter corresponding to the predicted time. Determine the second weighted square term between the current motor extension / retraction control quantity and the actual motor extension / retraction control quantity at the current moment; Add the first weighted square term to the second weighted square term to obtain the motor control quantity prediction term.

[0009] In some embodiments, the control unit is configured to multiply the current offset parameter and a preset first matrix to determine a first product term; Multiply the current motor extension / retraction control quantity by the preset second matrix to determine the second product term; Multiply the current belt feedforward parameters with the preset third matrix to determine the third product term; The first product term, the second product term, and the third product term are added together to obtain the initial offset parameters of the belt at the predicted time. Multiplying the initial offset parameter with the preset fourth matrix yields the predicted offset parameter of the belt at the predicted time. In some embodiments, the detection unit is a through-beam photoelectric sensor, which is used to detect in real time the occlusion state of the belt edge on the target beam, and output the position signal of the belt on the conveyor based on the occlusion state.

[0010] In some embodiments, the execution unit is configured to control the correction roller to drive the misaligned belt back to a position aligned with the conveyor in response to a belt correction command issued by the control unit via the telescopic motor.

[0011] In some embodiments, the execution unit is configured to calculate a real-time deviation based on the position signal, and generate a belt correction command when the real-time deviation meets a preset condition. The preset condition is that the absolute value of the deviation continuously exceeds a preset threshold, and the time during which the deviation continuously exceeds the preset threshold exceeds a preset duration.

[0012] In some embodiments, the control unit is further configured to generate an alarm command and send the alarm command to the alarm device and the human-machine interaction terminal, respectively triggering the alarm device to enter an alarm state and triggering the terminal interface of the human-machine interaction terminal to display alarm pop-up information.

[0013] Secondly, embodiments of this application provide a method for correcting the deviation of a high-speed belt conveyor, the method comprising: Based on the position signal of the belt on the conveyor at the current moment, determine whether the belt is offset relative to the conveyor. If it is offset, determine the current offset parameter of the belt relative to the conveyor at the current moment based on the position signal. A motor control quantity prediction term is constructed using the current offset parameter, and preset constraints are applied to the motor control quantity prediction term and solved to obtain the current motor extension / retraction control quantity of the execution unit at the current moment. Based on the current motor extension / retraction control value, a belt correction command is generated.

[0014] The embodiments of this application have the following beneficial effects: First, it achieves real-time automatic identification and precise correction of belt misalignment, completely eliminating the reliance on manual inspection and experience-based adjustments.

[0015] Second: It significantly shortens the response time for corrective actions, controlling the entire detection and execution process within tens of milliseconds to several seconds, thereby significantly reducing malfunctions such as material spillage, belt wear, and equipment downtime caused by deviation.

[0016] Third: Effectively avoids erroneous actions. Stable and reliable judgment logic ensures that correction is only initiated when there is a real and continuous deviation, thus improving the stability and security of system operation.

[0017] Fourth: It has a simple structure and is easy to install. It can be directly installed on existing conveying equipment without modifying the host or replacing the control system, which reduces implementation costs. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This paper shows a schematic diagram of a high-speed belt conveyor correction system according to an embodiment of the present application. Figure 2 This paper illustrates a control flow diagram of a control unit according to an embodiment of the present application. Figure 3 This paper illustrates a flowchart of a high-speed belt conveyor correction method according to an embodiment of this application. Figure 4 A schematic diagram of a high-speed belt conveyor correction device according to an embodiment of this application is shown. Detailed Implementation

[0020] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0021] The components of the embodiments of this application described and illustrated in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0022] In the following text, the terms "comprising," "having," and their cognates, which may be used in various embodiments of this application, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more combinations thereof. Furthermore, the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0023] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this application pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be construed as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this application.

[0024] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0025] In tobacco processing production lines, belt conveyors serve as core auxiliary equipment for continuous material transport, and their operational stability directly determines the continuity of production and the consistency of processes. However, belt misalignment is the most common and frequent failure mode of this type of equipment. If it is not identified and intervened in a timely manner, it will cause problems such as material spillage, material leakage along the line, and abnormal belt wear. In severe cases, it may lead to belt tearing, structural deformation, and foreign matter such as rubber powder and rubber filaments mixed into the material due to friction, creating significant quality hazards.

[0026] To address the aforementioned technical problems, this application provides a high-speed belt conveyor belt deviation correction system and method. It enables real-time automatic identification and precise correction of belt deviation, completely eliminating reliance on manual inspection and experience-based adjustments; significantly shortens the correction response time, controlling the entire detection and execution process within tens of milliseconds to several seconds, significantly reducing malfunctions such as material spillage, belt wear, and equipment downtime caused by belt deviation; effectively avoids erroneous actions, ensuring that correction is only initiated when there is genuine and continuous belt deviation through stable and reliable judgment logic, improving the stability and safety of system operation; and features a simple structure and convenient installation, allowing direct installation onto existing conveying equipment without modifying the main unit or replacing the control system, thus reducing implementation costs.

[0027] Figure 1 A schematic diagram of a high-speed belt conveyor correction system according to an embodiment of this application is shown. Exemplarily, the high-speed belt conveyor correction system includes: The detection unit is used to acquire the position signal of the belt on the conveyor at the current moment; The control unit is configured to determine, based on the position signal, whether the belt is offset relative to the conveyor, and if offset, to determine, based on the position signal, the current offset parameter of the belt relative to the conveyor at the current moment. The control unit is further configured to construct a motor control quantity prediction term using the current offset parameter, apply preset constraints to the motor control quantity prediction term and solve for them to obtain the current motor extension control quantity of the execution unit at the current moment; and generate a belt correction command based on the current motor extension control quantity. The execution unit is used to execute the belt correction command and reset the belt to a position aligned with the conveyor.

[0028] The detection unit refers to the position sensing module, which is installed on both sides of the belt conveyor frame and consists of through-beam photoelectric sensors.

[0029] The control unit is a real-time decision-making module that takes the position signal of the conveyor belt at the current moment as input. Its main functions include: receiving and parsing the analog signal from the detection unit (i.e., the position signal of the conveyor belt at the current moment) to determine whether a valid deviation has occurred; generating motor control commands based on the current offset parameters; and synchronously triggering alarms.

[0030] A conveyor refers to a high-speed belt conveyor, such as the high-speed belt conveyor that accompanies the air separator in a tobacco processing workshop.

[0031] A belt refers to an annular rubber-based composite material conveyor belt that circulates on the conveyor.

[0032] The actuator refers to the mechanical actuation structure consisting of a telescopic motor and a correction roller. Preferably, the correction roller is a single-point oscillating correction roller.

[0033] Specifically, the high-speed belt conveyor correction system of this application includes a detection unit, a control unit, and an execution unit. For example, at the current moment, the detection unit acquires the position signal of the belt on the conveyor.

[0034] The control unit calculates the current offset parameter based on the position signal obtained by the detection unit. This current offset parameter reflects whether the belt has deviated from the conveyor. If a deviation has actually occurred, the control unit further generates a belt correction command based on the current offset parameter through a correction algorithm.

[0035] The execution unit executes the belt correction command generated by the control unit to reset the belt to a position aligned with the conveyor.

[0036] Through the above embodiments, real-time automatic identification and precise correction of belt misalignment are achieved, completely eliminating the reliance on manual inspection and experience-based adjustments; and malfunctions are effectively avoided, with stable and reliable judgment logic ensuring that correction is only initiated when there is real and continuous misalignment, thus improving the stability and safety of system operation.

[0037] In one embodiment, the control unit generates the current motor extension / retraction control quantity based on the current offset parameter, including the following control steps: Step S202: Obtain the initial motor extension / retraction control quantity of the execution unit at the current time, and the current belt feedforward parameters of the belt at the current time.

[0038] The initial motor extension control quantity refers to the motor extension displacement value that has been stored in the controller or inherited from the previous cycle but has not yet been updated at the beginning of the current PLC scan cycle.

[0039] The current belt feedforward parameters refer to the set of external disturbance momentum that can be measured in real time and directly at the current moment and affect the belt offset trend, including but not limited to: belt linear speed and load tension changes.

[0040] Specifically, the control unit acquires the motor extension displacement value that has been stored in the controller or inherited from the previous cycle but has not yet been updated at the start of the current PLC scan cycle, as well as the changes in belt linear speed and load tension that affect the belt offset trend and can be measured in real time at the current moment.

[0041] Step S204: Input the current offset parameter, the initial motor extension control quantity, and the current belt feedforward parameter as the first initial conditions into the spatial position prediction model to predict the predicted offset parameter of the belt at the prediction time.

[0042] The current offset parameter refers to the positional deviation of the belt centerline relative to the conveyor baseline, which is detected in real time by a high-precision laser offset sensor at the current moment, as well as the first derivative of this positional deviation (i.e., the rate of change of deviation). The two together constitute a two-dimensional state vector.

[0043] The spatial position prediction model refers to a discrete-time state-space model based on the dynamic characteristics of the correction roller-belt system, which is suitable for real-time PLC calculation.

[0044] Predicted offset parameters refer to the belt deviation state corresponding to the future time, which is recursively calculated using a spatial location prediction model in the prediction time domain, i.e., the prediction time.

[0045] Specifically, the current offset parameter is multiplied by a preset first matrix to determine a first product term; the current motor extension / retraction control quantity is multiplied by a preset second matrix to determine a second product term; the current belt feedforward parameter is multiplied by a preset third matrix to determine a third product term; the first, second, and third product terms are added together to obtain the initial offset parameter of the belt at the prediction time; and the initial offset parameter is multiplied by a preset fourth matrix to obtain the predicted offset parameter of the belt at the prediction time. In one example, the predicted offset parameter of the belt at the predicted time is calculated using the following formula (i.e., the spatial location prediction model): ; Where x(k) is the current offset parameter at the current time, A is the preset first matrix, Ax(k) is the first product term, k is the current time, k+1 is the prediction time, u(k) is the current motor extension control quantity at the current time, B is the preset second matrix, Bu(k) is the second product term, d(k) is the current belt feedforward parameter at the current time, and B d As a pre-defined third matrix, B dd(k) is the third product term, x(k+1) is the initial offset parameter of the belt at the prediction time, C is the preset fourth matrix, and y(k) is the predicted offset parameter of the belt at the prediction time. Understandably, this application fully considers the inertia, hysteresis, and strong nonlinear characteristics of the high-speed belt conveyor correction system, establishes a spatial position prediction model, performs rolling time-domain optimization within each PLC scanning cycle to predict the deviation trajectory for multiple future steps, and applies only the optimal extension amount at the current moment to the extension motor by solving the optimal control sequence online. At the same time, measurable disturbances such as belt linear speed (acquired in real time by a high-precision encoder) and load tension changes are used as feedforward compensation channels and directly injected into the motor control quantity prediction model, effectively eliminating the pre-deviation phenomenon caused by sudden speed changes, tension fluctuations, or uneven material distribution, thereby improving the dynamic response capability and stability of the system from the source.

[0046] Step S206: The predicted offset parameter is used as the second initial condition and input into the motor control quantity prediction model to obtain the motor control quantity prediction term. Preset constraints are applied to the motor control quantity prediction term and solved to obtain the current motor extension / retraction control quantity of the execution unit at the current time.

[0047] Among them, the motor control quantity prediction model refers to a mathematical model built based on system dynamics modeling or data-driven modeling, which is used to output the optimal motor control quantity sequence that minimizes belt offset in future time periods based on the input prediction offset parameters.

[0048] The motor control quantity prediction item refers to the data item obtained after inputting the predicted offset parameter and actual offset parameter corresponding to the prediction time, the current motor extension control quantity and actual motor extension control quantity corresponding to the current time into the motor control quantity prediction model.

[0049] Prediction constraints refer to the hard / soft engineering boundary restrictions imposed during the process of solving the prediction terms of motor control quantities, including but not limited to: Execution constraints: maximum / minimum extension / retraction stroke, maximum extension / retraction speed, and maximum output torque of the telescopic motor.

[0050] Safety constraints: The real-time deviation of the belt must not exceed the preset safety threshold to avoid over-adjustment that could lead to slippage or tearing.

[0051] Smoothing constraint: The rate of change of motor extension and contraction during adjacent control cycles is limited, suppressing mechanical shock.

[0052] The current motor extension / retraction control quantity refers to the unique and determined motor extension / retraction command value that is applicable to the current control cycle (i.e., the current moment) obtained after applying predictive constraints to the motor control quantity prediction term and completing online optimization solution.

[0053] Specifically, a first weighted square term is determined between the predicted offset parameter and the actual offset parameter corresponding to the predicted time; a second weighted square term is determined between the current motor extension control quantity and the actual motor extension control quantity corresponding to the current time; the first weighted square term and the second weighted square term are added together to obtain the motor control quantity prediction term.

[0054] In one example, the motor control quantity prediction term is calculated using the following formula (i.e., the motor control quantity prediction model): ; Where y(k+i / k) is the predicted offset parameter, r(k+i) is the actual offset parameter, △u(k+i / k) is the control quantity difference between the current motor extension control quantity and the actual motor extension control quantity, Q is the extension parameter range of the extension motor in the execution unit in the preset constraint conditions, R is the safety deviation threshold of the belt, and J is the motor control quantity prediction term.

[0055] The online optimization solution in the above embodiments, combined with feedforward compensation, significantly improves the belt conveyor's correction performance under high-speed operation and complex working conditions, while also possessing good multivariable constraint handling capabilities and disturbance resistance robustness.

[0056] In one embodiment, the detection unit is a through-beam photoelectric sensor, which is used to detect in real time the occlusion state of the belt edge on the target beam, and output the position signal of the belt on the conveyor based on the occlusion state.

[0057] Specifically, the through-beam photoelectric sensor is a pair of photoelectric sensors (transmitter + receiver) mounted on the frame on both sides of the belt and arranged opposite each other. It uses an infrared beam to penetrate the space to form a detection baseline. When the belt edge shifts and partially or completely blocks the beam, the receiver outputs a continuously changing analog signal. Its current value is linearly related to the degree of blockage, thus characterizing the belt edge position in real time with high precision (≤0.5mm), non-contact, and anti-interference. The target beam is a stable infrared beam emitted by the transmitter of the through-beam photoelectric sensor, projected horizontally along the direction perpendicular to the belt running direction, and passing through the belt edge area.

[0058] Through the above embodiments, millimeter-level real-time sensing of the belt edge position is achieved through non-contact photoelectric detection. It features fast response, strong anti-interference, high accuracy, and maintenance-free operation, providing a reliable, stable, and continuous feedback signal foundation for closed-loop correction.

[0059] In one embodiment, the execution unit includes a correction roller and a telescopic motor; the telescopic motor responds to the belt correction command issued by the control unit and controls the correction roller to drive the misaligned belt back to a position aligned with the conveyor.

[0060] Specifically, the belt alignment roller is a rigid roller that can swing unidirectionally around a fixed fulcrum. Preferably, one end of the alignment roller is hinged to an electric push rod via a fisheye rod end bearing, and the other end is fixed to the frame via a screw. When the push rod extends or retracts, the roller swings at a small angle around the fixed end as the axis, and the friction between the roller surface and the side of the belt drives the belt to move laterally, thus achieving mechanical passive alignment. The extension motor is a servo motor integrated inside the electric push rod, which converts the rotational motion into linear displacement output through a drive screw. The belt alignment command is a digital control command generated by a PLC (control unit) that includes the target extension / retraction displacement and an execution enable signal.

[0061] Through the above embodiments, the single-point oscillating mechanical transmission is adopted, which has fast response, accurate positioning and stable operation, avoids over-adjustment or damage caused by manual knocking, achieves millimeter-level precise reset, and significantly extends the life of belts and idlers.

[0062] In one embodiment, the execution unit is configured to calculate the real-time deviation based on the position signal, and generate the belt correction command when the real-time deviation meets a preset condition, wherein the preset condition is that the absolute value of the deviation continuously exceeds a preset threshold, and the time during which the deviation continuously exceeds the preset threshold exceeds a preset duration.

[0063] Specifically, the real-time deviation refers to the absolute value of the instantaneous lateral displacement of the belt edge relative to the center line of the target beam, collected by the detection unit every preset time interval, such as 20ms, and calculated from the output current of the through-beam sensor. Understandably, this real-time deviation is continuously updated and used to trigger control logic and alarm determination. Understandably, the preset condition is a dual condition; the real-time deviation must simultaneously meet both conditions to confirm belt misalignment, and only then will the belt correction command be generated.

[0064] The above embodiments effectively distinguish between transient interference and actual deviation, avoid malfunctions, improve system robustness, and ensure timely and reliable correction.

[0065] In one embodiment, the control unit is further configured to generate an alarm command and send the alarm command to the alarm device and the human-machine interaction terminal, respectively triggering the alarm device to enter the alarm state and triggering the terminal interface of the human-machine interaction terminal to display alarm pop-up information.

[0066] Among them, alarm pop-up information refers to the visual alarm prompts that dynamically pop up on the human-computer interaction terminal.

[0067] Specifically, when the control unit determines the current offset parameter of the belt relative to the conveyor at the current moment, it performs two operations: first, it generates a belt correction command based on the current offset parameter; second, it generates an alarm command based on the current offset parameter and sends it to the alarm device and the human-machine interface terminal. Understandably, the belt correction command will differ depending on the current offset parameter, which serves as the condition for generating the belt correction command; similarly, the alarm command can also vary in its alarm method depending on the current offset parameter.

[0068] In one example, if the current offset parameter is less than a first threshold, the alarm command is sent to the alarm device; if the current offset parameter is equal to or greater than the first threshold, but less than a second threshold, the alarm command is sent to the human-machine interface terminal; if the current offset parameter is greater than the second threshold, the alarm command is sent to both the human-machine interface terminal and the alarm device.

[0069] Figure 3 A schematic flowchart of a high-speed belt conveyor correction method according to an embodiment of this application is shown. Exemplarily, this high-speed belt conveyor correction method includes the following steps: Step S302: Based on the position signal of the belt on the conveyor at the current moment, determine whether the belt is offset relative to the conveyor. If it is offset, determine the current offset parameter of the belt relative to the conveyor at the current moment based on the position signal. Step S304: Construct a motor control quantity prediction term using the current offset parameter, apply preset constraints to the motor control quantity prediction term and solve for them to obtain the current motor extension / retraction control quantity of the execution unit at the current moment; Step S306: Generate belt correction command based on the current motor extension / retraction control amount.

[0070] Figure 4 A schematic diagram of a high-speed belt conveyor correction device according to an embodiment of this application is shown. Exemplarily, the high-speed belt conveyor correction device 400 includes: The determining module 402 is used to determine whether the belt is offset relative to the conveyor based on the position signal of the belt on the conveyor at the current time; if it is offset, it determines the current offset parameter of the belt relative to the conveyor at the current time based on the position signal. The construction module 404 is used to construct a motor control quantity prediction term through the current offset parameter, and apply preset constraints to the motor control quantity prediction term and solve them to obtain the current motor extension and retraction control quantity of the execution unit at the current time. The generation module 406 is used to generate belt correction instructions based on the current motor extension and retraction control amount.

[0071] It is understood that the device in this embodiment corresponds to the high-speed belt conveyor correction method in the above embodiment, and the options in the above embodiment are also applicable to this embodiment, so they will not be described again here.

[0072] This application also provides a terminal device, exemplary of which includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to enable the terminal device to perform the functions of the various modules in the above-described high-speed belt conveyor correction method or the above-described high-speed belt conveyor correction device.

[0073] The processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including at least one of a Central Processing Unit (CPU), Graphics Processing Unit (GPU), Network Processor (NP), Digital Signal Processor (DSP), Application-Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0074] The memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The memory is used to store computer programs, and the processor can execute the computer programs accordingly after receiving execution instructions.

[0075] This application also provides a computer-readable storage medium for storing the computer program used in the aforementioned terminal device. For example, the computer-readable storage medium may include, but is not limited to, various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0076] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that, in alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0077] In addition, the functional modules or units in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0078] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0079] The above description is merely a specific embodiment of this application, but the scope of protection of this application 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 this application should be included within the scope of protection of this application.

Claims

1. A high-speed belt conveyor correction system, characterized in that, include: The detection unit is used to acquire the position signal of the belt on the conveyor at the current moment; The control unit is configured to determine, based on the position signal, whether the belt is offset relative to the conveyor, and if offset, to determine, based on the position signal, the current offset parameter of the belt relative to the conveyor at the current moment. The control unit is also configured to construct a motor control quantity prediction term using the current offset parameter, apply preset constraints to the motor control quantity prediction term and solve for them to obtain the current motor extension / retraction control quantity of the execution unit at the current moment. Based on the current motor extension / retraction control value, a belt correction command is generated; The execution unit is used to execute the belt correction command and reset the belt to a position aligned with the conveyor.

2. The system according to claim 1, characterized in that, The control unit constructs a motor control quantity prediction term using the current offset parameter, applies preset constraints to the motor control quantity prediction term, and solves for them to obtain the current motor extension / retraction control quantity of the execution unit at the current moment, including: The control unit obtains the initial motor extension control quantity of the execution unit at the current moment, and the current belt feedforward parameter of the belt at the current moment; The current offset parameter, the current motor extension control quantity, and the current belt feedforward parameter are input into the spatial position prediction model as the first initial conditions to predict the predicted offset parameter of the belt at the prediction time. The predicted offset parameter is used as the second initial condition and input into the motor control quantity prediction model to obtain the motor control quantity prediction term. Preset constraints are applied to the motor control quantity prediction term and solved to obtain the current motor extension / retraction control quantity of the execution unit at the current time.

3. The system according to claim 1 or 2, characterized in that, The preset constraints include the range of telescopic parameters of the telescopic motor in the execution unit and the safety deviation threshold of the belt.

4. The system according to claim 2, characterized in that, The step of using the predicted offset parameter as a second initial condition and inputting it into the motor control quantity prediction model to obtain the motor control quantity prediction term includes: Determine the first weighted square term between the predicted offset parameter and the actual offset parameter corresponding to the predicted time; Determine the second weighted square term between the current motor extension / retraction control quantity and the actual motor extension / retraction control quantity at the current moment; Add the first weighted square term to the second weighted square term to obtain the motor control quantity prediction term.

5. The system according to claim 2, characterized in that, The step of inputting the current offset parameter, the current motor extension / retraction control quantity, and the current belt feedforward parameter as the first initial conditions into the spatial position prediction model to predict the predicted offset parameter of the belt at the prediction time includes: Multiply the current offset parameter by a preset first matrix to determine the first product term; Multiply the current motor extension / retraction control quantity by the preset second matrix to determine the second product term; Multiply the current belt feedforward parameters with the preset third matrix to determine the third product term; The first product term, the second product term, and the third product term are added together to obtain the initial offset parameters of the belt at the predicted time. Multiplying the initial offset parameter with the preset fourth matrix yields the predicted offset parameter of the belt at the predicted time.

6. The system according to claim 1, characterized in that, The detection unit is a through-beam photoelectric sensor; the detection unit is used to acquire the position signal of the belt on the conveyor in real time, including: The through-beam photoelectric sensor is used to detect in real time the occlusion state of the belt edge on the target beam, and outputs the position signal of the belt on the conveyor based on the occlusion state.

7. The system according to claim 1, characterized in that, The execution unit includes a correction roller and a telescopic motor; The execution unit is used to control the belt alignment roller to return the misaligned belt to a position aligned with the conveyor in response to the belt alignment command issued by the control unit via the telescopic motor.

8. The system according to claim 1, characterized in that, The execution unit is used to calculate the real-time deviation based on the position signal, and generate the belt correction command when the real-time deviation meets the preset conditions. The preset conditions are that the absolute value of the deviation continuously exceeds a preset threshold, and the time during which the deviation continuously exceeds the preset threshold exceeds a preset duration.

9. The system according to claim 1, characterized in that, The control unit is also used to generate alarm commands and send the alarm commands to the alarm device and the human-machine interaction terminal, respectively triggering the alarm device to enter the alarm state and triggering the terminal interface of the human-machine interaction terminal to display alarm pop-up information.

10. A method for correcting the deviation of a high-speed belt conveyor, characterized in that, Applied to the system according to any one of claims 1-9, the following method is performed by the control unit: Based on the position signal of the belt on the conveyor at the current moment, determine whether the belt is offset relative to the conveyor. If it is offset, determine the current offset parameter of the belt relative to the conveyor at the current moment based on the position signal. A motor control quantity prediction term is constructed using the current offset parameter, and preset constraints are applied to the motor control quantity prediction term and solved to obtain the current motor extension / retraction control quantity of the execution unit at the current moment. Based on the current motor extension / retraction control value, a belt correction command is generated.

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