Self-moving two-transportation conveying system with automatic material centering and adjusting function
Patent Information
- Application Number
- CN202611171756.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-08-04
- Publication Date
- 2026-10-16
AI Technical Summary
[0006]针对现有技术的不足，本发明提供了一种带物料自动对中调节功能的自移式二运输送系统，解决了现有控制系统缺少时序校验与分级自修正逻辑，面对掘进过程中落料持续动态变化的工况，无法自主消除时段间偏载数据波动的问题
采用居中、居左、居右三组压力传感器同步采集全带宽物料载荷数据，依托压力比值推导高度比值、以区域高度连线夹角量化物料倾斜特征，能够完整还原皮带宽度方向物料偏载真实状态，相比单点传感可规避局部物料冲击、瞬时载荷波动带来的误判，精准识别微小偏载，为后续调平控制提供可靠数据依据；
Smart Images
Figure CN122924082A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of logistics and conveying technology, specifically to a self-moving two-way conveying system with automatic material centering and adjustment function. Background Technology
[0002] In coal mine underground tunneling faces, tunneling machines are generally used in conjunction with self-propelled secondary conveyors to complete coal and gangue transfer operations. The centering effect of material drop directly determines the operational stability of the secondary conveyor system.
[0003] Existing self-moving secondary conveyor automatic centering solutions mostly rely on a single sensor point to determine the material offset status, and can only realize the left and right translation and correction of the whole machine, which has obvious technical limitations.
[0004] The accuracy of material drop detection is insufficient. Relying solely on a single-point sensor makes it difficult to fully obtain the material load distribution across the entire transverse area of the conveyor belt. It is susceptible to misjudgments caused by instantaneous material drop impacts and localized gangue accumulation, and cannot accurately quantify the degree of lateral material load imbalance. There is a spatial misalignment between the detection point and the adjustment point. There is a time difference in the material being transported from the detection area of the buffer bed to the belt leveling area. Conventional real-time adjustment mode is prone to problems such as adjustment lag, overcorrection, and belt oscillation. The material unbalanced loading phenomenon cannot be continuously and stably eliminated. Traditional belt alignment methods can only move the secondary conveyor equipment as a whole, and cannot make differentiated height adjustments to the left, middle and right sections of the conveyor belt. Materials are still prone to accumulate on one side. Long-term unbalanced conveying will cause severe wear on one side of the buffer bed and buffer rollers, and frequent material spillage, belt tearing and other failures. The accumulation of gangue and coal in the roadway still requires continuous manual cleaning, which increases the labor intensity of the job and the equipment operation and maintenance costs. The existing control system lacks timing verification and hierarchical self-correction logic. Faced with the continuous dynamic changes in material dropping during the tunneling process, it cannot autonomously eliminate the fluctuations in off-center load data between time periods, requiring frequent manual intervention by operators. Its low level of intelligence restricts the continuity of underground tunneling and transportation operations and the standardization of operational safety.
[0005] Therefore, there is an urgent need to propose an automatic material centering adjustment scheme that can collect material pressure across the entire domain, quantify material tilt characteristics, match conveying time sequence for zonal leveling, and has self-verification and self-correction capabilities. Summary of the Invention
[0006] To address the shortcomings of existing technologies, this invention provides a self-moving two-way conveying system with automatic material centering adjustment function. This solves the problem that existing control systems lack timing verification and hierarchical self-correction logic, and cannot autonomously eliminate the fluctuation of off-center load data between time periods when facing the continuously dynamic changes in material drop during the tunneling process.
[0007] To achieve the above objectives, the present invention provides the following technical solution: a self-propelled two-way conveying system with automatic material centering adjustment function, comprising: The data monitoring end uses sensors installed at the bottom of the secondary buffer bed to confirm the pressure data associated with the corresponding area in real time, and transmits the real-time monitored pressure data to the tilt feature confirmation end. The tilt feature confirmation end generates a pressure data ratio column associated with the corresponding time based on the pressure data collected from different regions at the corresponding time. Then, it generates a height ratio column for the corresponding time based on the pressure data ratio column and records the tilt feature. The specific method is as follows: The pressure data for different regions at the corresponding time are denoted as YL. i-k Where i represents different regions and k represents different times, and i=1, 2, 3, the confirmed pressure data are processed by ratio analysis to generate a pressure data ratio column {YL} associated with the corresponding time. 1-k YL 2-k YL 3-k}; YL 1-k ×C1=1、YL 2-k ×C2=1、YL 3-k ×C3=1, confirm the values of C1, C2 and C3, and generate the height ratio column {C1:C2:C3} associated with the corresponding time based on the values of C1, C2 and C3; The height ratio column {C1:C2:C3} is optimized to ensure that the minimum ratio in the column is greater than or equal to 1. Then, the height ratio associated with the corresponding region is identified from this height ratio column and recorded as the height value. The spatial height points are locked, and the three sets of spatial height points are connected in sequence to generate two sets of planar lines. The angle between the two sets of planar lines is determined, and the determined angle is recorded as the tilt feature associated with the corresponding time. The real-time verification processing end, based on the straight-line distance between the pressure acquisition location and the height adjustment area, as well as the conveying speed, confirms the conveying time associated with the corresponding material. It then locks a set of verification time periods and verifies whether the tilt characteristics associated with these periods meet the verification standards. If they do, the real-time control end is directly executed; otherwise, the real-time correction end is executed for correction. The specific method is as follows: Based on the straight-line distance between the pressure acquisition location and the height adjustment area, as well as the conveying speed, the conveying duration T associated with the corresponding material is determined. Taking the current time t1 as the reference time, a set of verification time periods [t1, t1+½T] is determined. The specific method for confirming whether the tilt characteristics associated with the verification period have met the verification standards is as follows: The tilt features associated with the verification period are confirmed sequentially, and the tilt features are arranged in order of time to generate a tilt feature sequence. In the generated tilted feature sequence, the feature difference associated with adjacent time points is confirmed, and the feature difference is ≥0. The confirmed feature difference is processed by standard deviation, the verification feature is locked, and it is identified whether the verification feature satisfies: verification feature ≤ Y1, where Y1 is a preset value. If it is satisfied, the real-time control end is directly executed; if it is not satisfied, the real-time correction end is executed. The real-time correction mechanism identifies the feature comparison values associated with adjacent time periods based on the specific differences between tilt features, and corrects these feature comparison values sequentially from largest to smallest until all tilt features meet the verification criteria. The specific method is as follows: Based on the feature differences associated with adjacent time points, the mean of the two sets of feature differences corresponding to adjacent time periods is identified and recorded as the feature comparison value. From the determined feature comparison values, several sets of feature comparison values are sorted in descending order of value to confirm the comparison value sequence. The first feature alignment value of the alignment value sequence is taken as the value to be processed. The three sets of tilted features associated with the value to be processed are averaged, the feature mean is locked, and this feature mean is directly replaced with the corresponding three sets of tilted features. The tilted feature verification process is executed again to identify whether the associated verification features meet the evaluation conditions. If they meet the conditions, the correction process is completed. If they do not meet the conditions, the second set of feature alignment values is marked as the value to be processed. The mean processing process is then performed again on the three sets of tilt features associated with the second set of values to be processed. The process is then used to identify whether the subsequent tilt feature verification process meets the evaluation criteria. If it does, the correction process is completed. If it does not, the values to be processed are continuously determined until the determined tilt features meet the criteria.
[0008] Preferred options also include: The real-time control terminal executes the control process based on the corrected tilt characteristics within the verification period to complete the automatic centering and conveying of materials. The specific method is as follows: Confirm the different tilt features associated with the verification period, lock the different tilt features associated with different times t, and then directly determine the execution time of the corresponding tilt feature. The execution time = t + T, where T is the confirmed transmission duration. When the execution time arrives, the height values of different regions associated with the tilt feature are locked, and the hydraulic components associated with the corresponding regions are controlled to perform the hydraulic extension and retraction process, thus completing the adjustment and processing of the height difference between different regions.
[0009] This invention provides a self-propelled two-way conveying system with automatic material centering adjustment. Compared with the prior art, it has the following advantages: Three sets of pressure sensors (center, left, and right) are used to simultaneously collect material load data across the entire belt width. The height ratio is derived from the pressure ratio, and the material tilt characteristics are quantified by the angle of the line connecting the heights of the regions. This can completely restore the true state of material off-center loading in the belt width direction. Compared with single-point sensing, it can avoid misjudgment caused by local material impact and instantaneous load fluctuation, accurately identify minor off-center loading, and provide reliable data for subsequent leveling control. The material conveying time is calculated by combining the conveying distance and belt speed. A dedicated verification period is defined, and the standard deviation of the tilt feature sequence is used to determine whether the off-center load meets the standard. For deviations exceeding the standard, the average value is graded from large to small according to the feature comparison value. The material distribution fluctuation between sections is gradually smoothed out, avoiding back-and-forth swinging and correction oscillation problems in multi-area hydraulic synchronous adjustment. This ensures the uniformity of material conveying and is suitable for complex working conditions such as dynamic material dropping and frequent load changes in underground mines. The adjustment delay logic is set up to determine the hydraulic execution time based on the material conveying time T. The hydraulic components at the corresponding points are then activated to lift and level the material after it has moved to the height adjustment area. This achieves the timing matching of "detection first, then precise adjustment", eliminating the problems of adjustment lag and adjustment failure caused by misalignment between the detection position and the adjustment position, and greatly improving the automatic centering synchronization and adjustment accuracy. Attached Figure Description
[0010] Figure 1 This is a schematic diagram of the principle framework of the present invention. Detailed Implementation
[0011] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0012] First Embodiment Please see Figure 1 This application provides a self-moving two-way conveying system with automatic material centering adjustment function, including a data monitoring end, a tilt feature confirmation end, a real-time verification and processing end, a real-time correction end and a real-time control end, wherein the data monitoring end, tilt feature confirmation end, real-time verification and processing end and real-time correction end are electrically connected from the output node to the input node in sequence, and the tilt feature confirmation end and the real-time correction end are both electrically connected to the input node of the real-time control end. Among them, the data monitoring end uses sensors installed at the bottom of the second buffer bed to confirm the pressure data associated with the corresponding area in real time, and transmits the real-time monitored pressure data to the tilt feature confirmation end. When the material from the first transport of the tunneling machine falls to the second buffer bed, the bottom sensors collect the material pressure distribution data in real time. There are three sets of pressure sensors, which are located in the center, left and right corresponding positions on the same horizontal straight line. Among them, the tilt feature confirmation end generates a pressure data ratio column associated with the corresponding time based on the pressure data collected at the corresponding time belonging to different areas, and then generates a height ratio column at the corresponding time based on the pressure data ratio column, and records the tilt feature. In the subsequent stage, hydraulic components are set at the lower end of the corresponding area, which can be used to lift the corresponding conveyor belt to perform the height adjustment process, so that the material in the conveying process can be evenly distributed on the corresponding conveyor belt. Among them, the real-time verification processing end confirms the conveying time associated with the corresponding material based on the straight-line distance between the pressure acquisition position and the height adjustment area and the conveying speed. It locks a set of verification time periods according to the conveying time and confirms whether the tilt characteristics associated with the verification time period meet the standards. If they meet the standards, the real-time control end is directly executed. If they do not meet the standards, the real-time correction end is executed for correction processing. The real-time correction end identifies the feature comparison values associated with adjacent time periods based on the specific differences between tilt features, and corrects the feature comparison values in descending order until all tilt features meet the verification standards.
[0013] The real-time control unit executes the control process based on the corrected tilt characteristics during the verification period, thereby completing the automatic centering and conveying process of materials.
[0014] Second Embodiment In a specific implementation process, this embodiment is a further implementation of the above embodiment, and specifically includes: Specifically, for the tilt feature confirmation end, the method for identifying the height ratio column is as follows: The pressure data for different regions at the corresponding time are denoted as YL. i-k Where i represents different regions and k represents different times, and i=1, 2, 3, the confirmed pressure data are processed by ratio analysis to generate a pressure data ratio column {YL} associated with the corresponding time. 1-k YL 2-k YL 3-k}; YL 1-k ×C1=1、YL 2-k ×C2=1、YL 3-k×C3=1, confirm the values of C1, C2 and C3, and generate the height ratio column {C1:C2:C3} associated with the corresponding time based on the values of C1, C2 and C3; The height ratio column {C1:C2:C3} is optimized to ensure that the minimum ratio in the column is greater than or equal to 1. Then, the height ratio associated with the corresponding region is identified from this height ratio column and recorded as the height value. The spatial height point is locked (the vertical distance between this point and the set plane is the corresponding height value). The three sets of spatial height points are connected in sequence to generate two sets of planar lines (there is a line connecting the left and center corresponding height points, and there is also a line connecting the right and center corresponding height points, so there is an angle between the two sets of lines). The angle between the two sets of planar lines is determined and recorded as the tilt feature associated at the corresponding time. Specifically, the differences between pressure data are directly related to the height differences in the corresponding areas. Therefore, the corresponding ratio generated by the pressure data corresponds to the associated height ratio. Based on the specific ratio values in the height ratio column, the corresponding height value is locked. Then, based on the specific angle between the lines connecting the corresponding height points, the tilt feature associated at the corresponding time is locked, and the angle is always confirmed to be upward.
[0015] The specific method for locking the verification period in the real-time verification processing terminal is as follows: Based on the straight-line distance between the pressure acquisition location and the height adjustment area, as well as the conveying speed, the conveying duration T associated with the corresponding material is determined. Taking the current time t1 as the reference time, a set of verification time periods [t1, t1+½T] is determined. The specific method for confirming whether the tilt characteristics associated with the verification period have met the verification standards is as follows: The tilt features associated with the verification period are confirmed sequentially, and the tilt features are arranged in order of time to generate a tilt feature sequence. In the generated tilted feature sequence, the feature difference associated with adjacent time points is confirmed, and the feature difference is ≥0. The confirmed feature difference is processed by standard deviation, the verification feature is locked, and it is identified whether the verification feature satisfies: verification feature ≤ Y1, where Y1 is a preset value, and its specific value is determined by the operator based on experience. If it is satisfied, the real-time control terminal is directly executed; if it is not satisfied, the real-time correction terminal is executed.
[0016] The specific method by which the real-time correction end executes the correction process is as follows: Based on the feature differences associated with adjacent time points, the mean of the two sets of feature differences corresponding to adjacent time periods is identified and recorded as the feature comparison value. From the determined feature comparison values, several sets of feature comparison values are sorted in descending order of value to confirm the comparison value sequence. The first feature alignment value of the alignment value sequence is taken as the value to be processed. The three sets of tilted features associated with the value to be processed are averaged, the feature mean is locked, and this feature mean is directly replaced with the corresponding three sets of tilted features. The tilted feature verification process is executed again to identify whether the associated verification features meet the evaluation conditions. If they meet the conditions, the correction process is completed. If they do not meet the conditions, the second set of feature alignment values is marked as the value to be processed. The mean processing process is then performed again on the three sets of tilt features associated with the second set of values to be processed. The process is then used to identify whether the subsequent tilt feature verification process meets the evaluation criteria. If it does, the correction process is completed. If it does not, the values to be processed are continuously determined until the determined tilt features meet the criteria.
[0017] The specific method by which the control process is executed on the real-time control end is as follows: Confirm the different tilt features associated with the verification period (including the corrected tilt features), lock the different tilt features associated with different times t, and then directly determine the execution time of the corresponding tilt feature. The execution time = t + T, where T is the confirmed transmission duration. When the execution time arrives, the height values of different regions associated with the tilt feature are locked, and the hydraulic components associated with the corresponding regions are controlled to perform the hydraulic extension and retraction process, thus completing the adjustment and processing of the height difference between different regions.
[0018] Some of the data in the above formulas are numerical calculations with dimensions removed, and the contents not described in detail in this specification are all prior art known to those skilled in the art.
[0019] The above embodiments are only used to illustrate the technical methods of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical methods of the present invention without departing from the spirit and scope of the technical methods of the present invention.
Claims
1. A self-propelled two-way conveying system with automatic material centering adjustment function, characterized in that, include: The data monitoring end uses sensors installed at the bottom of the secondary buffer bed to confirm the pressure data associated with the corresponding area in real time, and transmits the real-time monitored pressure data to the tilt feature confirmation end. The tilt feature confirmation end generates a pressure data ratio column associated with the corresponding time based on the pressure data collected at different times belonging to different regions, and then generates a height ratio column for the corresponding time based on the pressure data ratio column, and records the tilt feature. The real-time verification processing end, based on the straight-line distance between the pressure acquisition location and the height adjustment area and the conveying speed, confirms the conveying time associated with the corresponding material, locks a set of verification time periods according to the conveying time, and confirms whether the tilt characteristics associated with the verification time period meet the standards. If they meet the standards, the real-time control end is directly executed; if they do not meet the standards, the real-time correction end is executed for correction processing. The real-time correction end identifies the feature comparison values associated with adjacent time periods based on the specific differences between tilt features, and corrects the feature comparison values in descending order until all tilt features have been verified to meet the standards.
2. The self-propelled two-way conveying system with automatic material centering adjustment function according to claim 1, characterized in that, The specific method for identifying the height ratio column at the tilt feature confirmation end is as follows: The pressure data for different regions at the corresponding time are denoted as YL. i-k Where i represents different regions and k represents different times, and i=1, 2, 3, the confirmed pressure data are processed by ratio analysis to generate a pressure data ratio column {YL} associated with the corresponding time. 1-k YL 2-k YL 3-k }; YL 1-k ×C1=1、YL 2-k ×C2=1、YL 3-k = ×C3=1, confirm the values of C1, C2 and C3, and generate the height ratio column {C1:C2:C3} associated with the corresponding time based on the values of C1, C2 and C3.
3. A self-propelled two-way conveying system with automatic material centering adjustment function according to claim 2, characterized in that, The tilt feature confirmation terminal records the tilt feature in the following specific way: The height ratio column {C1:C2:C3} is optimized to ensure that the minimum ratio in the column is greater than or equal to 1. Then, the height ratio associated with the corresponding region is identified from this height ratio column and recorded as the height value. The spatial height points are locked, and the three sets of spatial height points are connected in sequence to generate two sets of planar lines. The angle between the two sets of planar lines is determined, and the determined angle is recorded as the tilt feature associated with the corresponding time.
4. A self-propelled two-way conveying system with automatic material centering adjustment function according to claim 1, characterized in that, The specific method by which the real-time verification processing terminal locks the verification period is as follows: Based on the straight-line distance between the pressure acquisition location and the height adjustment area, as well as the conveying speed, the conveying duration T associated with the corresponding material is determined. Taking the current time t1 as the reference time, a set of verification time periods [t1, t1+½T] is determined.
5. A self-propelled two-way conveying system with automatic material centering adjustment function according to claim 4, characterized in that, The real-time verification processing terminal confirms whether the tilt feature associated with the verification period meets the verification standard in the following specific way: The tilt features associated with the verification period are confirmed sequentially, and the tilt features are arranged in order of time to generate a tilt feature sequence. In the generated tilted feature sequence, the feature difference associated with adjacent time points is confirmed, and the feature difference is ≥0. The confirmed feature difference is processed by standard deviation, the verification feature is locked, and it is identified whether the verification feature satisfies: verification feature ≤ Y1, where Y1 is a preset value. If it is satisfied, the real-time control end is directly executed; if it is not satisfied, the real-time correction end is executed.
6. A self-propelled two-way conveying system with automatic material centering adjustment function according to claim 1, characterized in that, The real-time correction terminal executes the correction processing process in the following specific manner: Based on the feature differences associated with adjacent time points, the mean of the two sets of feature differences corresponding to adjacent time periods is identified and recorded as the feature comparison value. From the determined feature comparison values, several sets of feature comparison values are sorted in descending order of value to confirm the comparison value sequence. The first feature alignment value of the alignment value sequence is taken as the value to be processed. The three sets of tilted features associated with the value to be processed are averaged, the feature mean is locked, and this feature mean is directly replaced with the corresponding three sets of tilted features. The tilted feature verification process is executed again to identify whether the associated verification features meet the evaluation conditions. If they meet the conditions, the correction process is completed. If they do not meet the conditions, the second set of feature alignment values is marked as the value to be processed. The mean processing process is then performed again on the three sets of tilt features associated with the second set of values to be processed. The process is then used to identify whether the subsequent tilt feature verification process meets the evaluation criteria. If it does, the correction process is completed. If it does not, the values to be processed are continuously determined until the determined tilt features meet the criteria.
7. A self-propelled two-way conveying system with automatic material centering adjustment function according to claim 1, characterized in that, Also includes: The real-time control terminal executes the control process based on the corrected tilt characteristics within the verification period, completing the automatic centering and conveying process of materials.
8. A self-propelled two-way conveying system with automatic material centering adjustment function according to claim 7, characterized in that, The real-time control terminal executes the control process in the following specific way: Confirm the different tilt features associated with the verification period, lock the different tilt features associated with different times t, and then directly determine the execution time of the corresponding tilt feature. The execution time = t + T, where T is the confirmed transmission duration. When the execution time arrives, the height values of different regions associated with the tilt feature are locked, and the hydraulic components associated with the corresponding regions are controlled to perform the hydraulic extension and retraction process, thus completing the adjustment and processing of the height difference between different regions.